Servo Drive GSK

GSK DA98B AC Servo Drive Unit
User Manual
The operating manual describes all matters concerning the operation of the system
in detail as much as possible. However, it is impractical to give particular
descriptions of all unnecessary and/or unavailable works on the system due to the
length limit of the manual, specific operations of the product and other causes.
Therefore, the matters not specified herein may be considered impractical or
unavailable.
This operating manual is the property of GSK CNC Equipment Co., Ltd. All rights
reserved. It is against the law for any organization or single to publish or reprint this
manual without the express written permission of GSK and the latter reserves the
right to ascertain their legal liability.
Company Profile
GSK CNC EQUIPMENT CO., LTD.(GSK) , CNC Industry Base of South China, is
responsible for the National High Technology Research and Development Program of
China (863 Program): Moderate CNC Industrialization Key Technology. For ten years, we
are exclusively engaged in research, Development, manufacture, sale, training and
popularization of Machine Tool CNC system, Servo Motor and driver, and other
mechanical products. Today, GSK has already expressed into a large-scale new high-tech
enterprise that deals with research, teaching, working and trading. Our products support
more than 60 domestic manufacturers of machine tools with after-sales service network
through the country. With a yield in the lead in China for four years in succession, GSK
series products are in great demand in the domestic demand and have a ready sale in
Southeast Asia at high performance-to-price ratio.
Chinese version of all technical documents in Chinese and English languages is

regarded as final.
Forward
Foreword
The manual describes functions and operation methods of DA98B AC servo Drive Unit to
ensure that you can comprehensively understand the servo unit to flexibly and
conveniently use it. Else, it also provides the knowledge and notes how to operate the
unit.
z All specifications and designs are subject to change without notice.
z We do not assume any responsibilities for the change of the product by users,
therefore the warranty sheet will be void for the change.
z Chinese version of all technical documents in Chinese and English languages is
regarded as final.
Thank you for using DA98B AC Servo Drive Unit and User Manual. Welcome you to
feedback your suggestions about our product and User Manual by the telephone or fax,
Email which has been addressed on the back cover of this manual, or feedback to our
headquarter by local outlet.
Ⅰ
GSK CNC Enquipment Co., Ltd.
Warning
Please read carefully the following warning marks, if not avoided, could result in injury or in
heavy damage to property.
■ The following warnings with varying degrees of severity appear in the User
Manual.
! Danger: Indicate an immenently hazardous situation which, if not

avoided, will result in death or serious injury.
! Caution: Indicate a potentially hazardous situation which, if not

avoided, may result in minor or moderate injury or in
damage to property.
Indicate a potential situation which, if not avoided, may

result in an undesirable result or state.
This symbol appears in the user Manaul whenever it is

necessary to draw your attention to an important item of
information.
■ The following symbols indicate some operations must not or must

be performed.
Forbid performing some operation (absolutely must not perform some
operation).
Perform some operation (must perform some operation).
Ⅱ
Warning
Danger
!
The cable is not permitted to be Moving, wiring and checking

put on the trenchant edge and can only be performed after
excessive pressure, load, the power is switched off for
tension is not permitted to exert 10 minutes.
on it
Electric shock, fault, Electric shock occurring
damage occurring if the if the indication not
indication not observed observed
Ⅲ
Caution
!
When there is an alarm in the Don't touch the motor, control

running, it must be eliminated device or the brake resistance
before going on running. for the heating in the running.
Destructive result occurring

if the indication not Scalding occurring if the
observed indication not observed
Ⅳ
Warning
! Notes
Ⅴ
Ⅵ
Content
Content
Chapter 1 Overview ...............................................................................................1

1.1 Introduction ................................................................................................................... 1
1.2 Check after delivery ...................................................................................................... 2
1.3 Outline ............................................................................................................................ 4
Chapter 2 Installation ............................................................................................5
2.1 Installing servo unit ....................................................................................................... 5
2.2 Installing motor.............................................................................................................. 7
Chapter 3 System configuration and assembly.............................................9
3.1 Servo unit specification ................................................................................................. 9
3.2 Interior diagram block of servo unit...........................................................................11
3.3 Wiring ............................................................................................................................11
3.4 I/O Interface fundamentals......................................................................................... 18
3.5 Standard conection ...................................................................................................... 23
3.5.1 Orientation control .............................................................................................................23
3.5.2 Speed control .....................................................................................................................25
Chapter 4 Parameter ...........................................................................................27
4.3 Model code parameters for motors ............................................................................ 33
Chapter 5 Display and operation .....................................................................35
5.1 Keys operation ............................................................................................................. 35
5.3 Parameter setting......................................................................................................... 39
Chapter 6 Trial run ...............................................................................................43
6.1 Check before trial run ................................................................................................. 43
6.2.1 Sequence of power on for servo unit ....................................................................... 44
6.2.2 JOG running .......................................................................................................................45
6.2.3 (Sr-) trial run .......................................................................................................................46
6.2.4 Speed control run ..............................................................................................................46
6.2.5 Orientation control run ......................................................................................................49
6.3 Application of hold release signal ............................................................................... 52
6.4 Parameter adjustment for machining characteristics improvement ...................... 54
Chapter 7 Funciton for protection ...................................................................57
Chapter 8 Isolated transformer ........................................................................64
Chapter 9 Order guide ........................................................................................69
9.1 Capacity selection ........................................................................................................ 69
9.2 Electronic gear ratio .................................................................................................... 72
9.3 Stop characteristic ....................................................................................................... 72
9.4 Servo and orientation controllor computation.......................................................... 73
1
2
Chapter 1 Overview
Chapter 1 Overview
1.1 Introduction
DA98B AC Servo Drive Uit is the second generation of fully digital AC Servo system
of our company which is employed with the new type exclusive chip DSP for motor
control, large-scale complex programmable logic device (CPLD) and IPM with big
power, which has a good integration, compact, perfect protection and highly reliability.
It is characterized with the f orientation control, interior speed control, analog speed
control etc. and is widely applied in the automation production line, packing
machinery and printing machinery and other automatic field.
Compared to stepper system,
DA98B AC Servo Driver Unit has advantages as follows:
z Avoiding out-of-step
Open loop control
Servomotor is equipped with encoder, its Stepper motor
orientation signal feedbacks to servo

driver with open loop orientation controller
to compose a semi-closed loop control
system. Controller
z Speed ratio, constant torque

Positioning instruction
The timing ratio is 1：5000，with stable
torque from low speed to high speed.
z High speed, high precision

Feedback control
Servo motor
Max. speed can be 3000rpm, and the
speed fluctuation rate is less than 2％.
【Note】There is different rated speed
Controller
for different motors.
Feedback
z Simple and flexible control Positioning instruction
Parameters can be modified to set properly operating mode, running performance of

servo system to meet different requirements.
1
GSK CNC Equipment Co., Ltd.
1.2 Check after delivery
Item
1) Whether the packing is good and the goods is damaged.

2) Whether the servo unit, servo motor is the ordered one by checking the nameplates
of the goods.
3）Whether the accessories are complete by checking the packing list.
z Do not install servo unit which is damaged or lacks of components.

z Servo driver must be matched with servomotor which performance
matches the former.
z Please contact with our suppliers or our company if there are any questions
after receiving goods.
Model significance
DA98B-04-110SJT-M060D
Matched servo motor type
Output power (see table1-a)

Series code
Mark Rated output Mark Rated output Mark Rated output

04 0.4 kW 12 1.2 kW 18 1.8 kW
06 0.6 kW 14 1.4 kW 20 2.0 kW
08 0.8 kW 15 1.5 kW 23 2.3 kW
10 1.0 kW 17 1.7 kW 26 2.6 kW
Table 1－a
2
Chapter 1 Overview
（1） Standard accessories for DA98B servo unit:

① User Manual 1
② Installation bracket 2
③ M4×8 contersink bolt 4
④ CN1 socket（DB44 female） 1 set （note 1）
⑤ CN2 plug（DB25 male） 1 set （note 2）
Accessory list
1：Signal cable (3m) can be provided when it is matched with our servo unit.
2：Feedback cable (3m) available should be used when our servo motor is provided.
（2） Standard accessories of servo motor are provided according to user manual of
servo motor.
3
1.3 Outline
Outline of servo unit
Fig. 1.1 Outline of servo unit

Outline of servo motor
Fig. 1.2 Outline of servo motor
4
Chapter 2 Installation
Servo unit and servo motor should be correctly installed to avoid the mistaken operation,
to protect the machine from being broken or damaged.
2.1 Installing servo unit
Installation environment
Be careful for the protection against rain and sunlight while the servo unit is being
installed.
Servo unit must be installed in the electric cabinet to prevent dust, corrosive gas,
liquid, conductors and inflammable substances from entering it.
Servo unit should be fixed in the well ventilative, dampproof and dustproof
environment.
Fireproof material should be used in the installation with no permission to fix it on or
near the inflammable object.
Run the servo unit below the temperature of 45℃ for reliable long term usage.
Environmental requirements
Item DA98B servo unit

0～55℃（no frost）
Operating temperature
≤90%RH（no dewing）
Storage/delivery temperature -40～80℃

and humidity ≤90%RH（no dewing）
There should be no corrosive gas，flammable gas, oil fog
Atmosphere environment
or dust etc. in the control cabinet.
Altitude Altitude: below 1,000m
Vibration ≤ 0.5G（4.9m/s2）10-60Hz
Atmospheric pressure 86kPa～106kPa

Guard level IP43
Installation method
The driver is employed with bottom board or panel installation mode in the upright
direction of installation plane.
Fig. 2.1 is sketch map for bottom board installation and Fig. 2.2 for panel installation. (Unit
below: mm)
5
Fig 2.1 Bottom board installation pattern
Fig 2.2 Panel installation pattern
Installation interval
Fig. 2.3 is installation interval for one servo unit and Fig. 2.4 is for servo units. The actual
interval for installation should be larger as possible as to get a good heat radiation.
Fig. 2.3 Installation interval for a single servo unit
6
>100mm
>25mm >25mm >100mm
Servo driver
Servo driver
Servo driver
>100mm
Ventilation direction Ventilation direction
Fig. 2.4 Installation interval for servo units
Heat radiation
There should be convective air to the radiator of the servo unit in electric cabinet to inhibit
its environmental temperature from continuously rising.
2.2 Installing motor
Installation environment
Be careful for the protection against rain and sunlight.

The motor must be installed in the electric cabinet to prevent dust, corrosive gas,
liquid, conductors and inflammable substances from entering it.
The motor should be fixed in the well ventilative, dampproof and dustproof
environment.
■ The motor should be fixed in a place that is convenient for the maintenance, check
and cleaning of the motor.
7
Installation notes
■ Do not hammer the motor or its shaft to

protect the encoder from being damaged
when removing or assembling belt wheel.
Helically pressing or drawing tools should be
used for removing and assembling.
■ Servo motor cannot support heavy axial,
radial load. It should be employed with
flexible shaft coupling for load.
■ Anti-loose washer should be used to fix the motor
against loosing.
■ Oil and water should be protected from the motor for
that the oil or water from the cable which has been dipped in the oil or water can be
sticked to the motor, so such possibility should be avoided.
8
Chapter 3 System configuration and assembly

3.1 Servo unit specification
Table 3－1 Servo unit specification
Output power (kW) 0.4～0.8 1.0～1.5 1.7～2.6

Motor rated torque
2～4 4～10 6～15
（N·m）
Single phase or
three-phase AC220V
Input power supply three-phase AC220V
-15～+10% 50/60Hz
-15～+10% 50/60Hz
Temperature Working：0～55℃ Storage：-20℃～80℃

Environment
Humidity Less than 90%（no dewing）
Vibration Less than 0.5G（4.9m/s2）,10～60 Hz(non-continuous running)
① Orientation control ②External speed control ③Internal speed

Control method
control ④Trial speed run ⑤ JOG speed ⑥Encoder zero-adjusting
Energy brake Built-in

Speed frequency response: 200Hz or more
characteristics
Speed fluctuation rate: ＜±0.03（load 0～100%）；＜±0.02（power supply -15～

Control
+10%）（numerical value corresponding to rated speed）

Timing ratio: 1:5000
Pulse frequency: ≤500kHz
①Servo on ②Alarm cancellation ③Disable in positive direction

④Disable in negative direction ⑤Zero-speed clamping ⑥Error
Control input
counter reset/speed choice11 ⑦Disable instruction pulse/speed
choice 2 ⑧CCW torque limit ⑨CW torque limit ⑩Universal I/O port
① Servo ready output ② Servo alarm output ③ Orienting completing

Control output output/speed in-orientation output ④Hold release ⑤Zero speed
output ⑥Universal output ⑦Pulse feedback output
① Pulse+ direction ②CCU pulse /CW pulse ③A/B

Orientation control Input mode
orthogonal phases pulse
Electronic Ratio numerator:1～32767 Ratio denominator: 1～

gear ratio 32767
9
Encoder 2500 pulse/rev (resolution:10000) incremental

Feedback encoder
4 kinds of internal speed instructions and (+10～-10) external analog
Speed control
voltage instructions
Speed, current orientation, instruction pulse accumulation,
Orientation deviation, motor torque, motor current, linear
Monitor function
speed, rotor absolute orientation, instruction pulse frequency,
running state, input/output terminal signal and so on
Overspeed, overvoltage/under-voltage of main power supply,
Protection function overcurrent, overload, brake abnormity, encoder abnormity, control
power supply abnormity, orientation oversize
Display, operation 6-bit LED digital tube, 4 buttons
Load inertia Less than quintuple of motor inertia
Thin radiating fin Thick radiating fin
Weight 2.67Kg 3.48Kg
Dimension 244×163×92mm 244×163×112mm
10
3.2 Interior diagram block of servo unit
Fig. 3.1 Interior diagram block for DA98B servo unit
Control board diagram block inside the broken line and power supply board
diagram block outside the broken line above.
3.3 Wiring
There are several control modes for DA98B: orientation control mode, speed control
mode etc. Personnel who take up the wiring and checking should be qualified for
11
the work, they must do wiring as the terminal voltage and poles by the manual for
prevention of the device damage or the injury to personnel.
Main circuit wiring
Fig.3.2 Typical wiring for the main circuit

MCC ： Breaker FIL ：Disturbance filter
TB ： Isolated transformer KM1 ：AC contactor
R/C ： Surge inhibitor P, D ：Reserve
■ The breaker should be selected B type short circuit device, the drop-away current is
more1.3 times than servo rated input one, otherwise is less than 1.05 times than the
servo rated input current.
■ Single phase power supply AC220V(+10%～－15％) can be employed when the
precision is comparative low and the power is less than 0.8KW for servo unit, and its
the wiring is as fig.3.2
■ While connecting the terminals, peel the insulative surface of the wire and twist the
naked copper wires, compress the wiring by the pre-insulation cold pressing terminals
to fasten the connection.
6～8mm
Table 3－2 Wire sections for main circuit （Unit: mm2）
12
Output R S T PE U V W r t
power
Input
Input terminals Output
Protection terminals of
Type of the main terminals of
earthing the control
power supply power
power
0.4～0.8（kW） 1.5 1.5 1.5 ≥2.0 1.5 1.5 1.5 1.0 1.0
1.0～1.5（kW） 2.0 2.0 2.0 ≥2.0 2.0 2.0 2.0 1.0 1.0
1.7～2.6（kW） 2.5 2.5 2.5 ≥2.5 2.5 2.5 2.5 1.0 1.0
! Caution to main circuit wiring:
①Wires from power supply must not be directly connected with the U, V, W
terminals.
②U, V, W wires should connect with motor terminals correspondingly.

Operation of reverse rotation for motor by exchanging the wires of
three-phase terminals is not allowed.
③Due to the high frequency switch current in the motor, the leaking current is
relatively larger, the motor grounding terminal must be connected with the
servo unit grounding terminal PE and the grounding resistance should be less
than 100Ω.
④Do not touch the servo unit and motor in 5 minutes after the power supply
is switched off because there is large electrolytic capacitance keeping high
voltage inside the servo unit even if it is switched off.
⑤Operator should keep a certain distance to the servo unit and motor after
the power is switched on.
⑥Servo motor must not be drived by the industrial power directly connecting
to the U, V, W terminals of motor in the absence of servo unit, or the servo
motor will be damaged.
13
CN2 terminal wiring
①The cable length between the servo unit and motor should be within 20 meters.
②The distance between the feedback cable of encoder and main circuit cable
should be over 30cm as well as the both cables should not use the same tube or be
bound together.
③Shielded cable with the size 0.15mm²～0.20mm²(AWG24-26) should be used for
feedback signal cable, and the shielded tier should connect with FG terminal.
④The cables and wares should be well fixed as well as not be adjacent to servo unit
radiator or motor for their protection of insulation against heating.
⑤The wiring of CN2 in the following sketch map is done by accordance of GSK SJT
series motor. If user uses motor from other manufacturers or self-made wires, the
wiring below should be followed by. （ Leading wires of temperature controller
connect to OH, OV terminals for motor with temperature controller.）
14
V a ca ncy
CN2 (DB25F)
Fig.3.3 Encoder wiring
CN1 terminal wiring
① The cable length of the control signal should be within 3m.

② The distance to the main circuit cable should be above 30cm as well as the both
cables should not use the same tube or be bound together for protection against
disturbance.
③ The external power supply should be provided by user.
④ There are different wirings for CN1 terminal in different control modes, see
section 3.5 for details.
15
Fig.3.4 Terminals and definition of CN1
16
Input and output interface pattern for CN1
Table 3―3 Terminal signal type
Input terminals Output terminals Other terminals
Pin No. Sign Signal type Pin No. Sign Signal type No. Sign
23 SON 19 ZSP 2 DGND
8 ALRS 35 COIN/SCMP 4 AGND
9 RSTP 34 GOU1 16 AGND
24 FSTP 5 ALM 31 PE
40 CLE/SC1 20 SRDY 32 DG
41 INH/SC2 7 HOLD+ 33 DG
10 RIL 6 HOLD_ 38 COM+
25 FIL 36 CZ+ 39 COM+
26 ZSL 37 CZ- 44 PE
11 GIN1 22 RLYOU+
1 AGND 21 RLYOU-
17 VCMD 27 PAOUT+
30 PULS+ 12
PAOUT-
PULS-
15 28 PBOUT+
29 13 PBOUT-
SIGN+
14 SIGN- 42 PZOUT+
43 PZOUT-
17
3.4 I/O Interface fundamentals
CN1 interface signal
There are 7 types of CN1 interface signal as following:
Switching volume input, , A lateral pole is connected to COM+ via 3kΩ

resistance in series for one internal photoelectric coupling; K lateral pole is connected
to input terminal for one photoelectric coupling.
Switching volume output, , E lateral pole is connected to DG terminal, C pole

to output terminal for two internal photoelectric couplings. The max. current ≤15mA
Switching volume output, , E lateral pole is connected to DG terminal, C
pole to output terminal for two internal Darlington output photoelectric couplings. The
max. current ≤50mA
Pulse input interface, , A lateral pole is connected to positive input

terminal via a resistance in series and K pole to negative input terminal for one
internal high speed photoelectric coupling.
Differential output, , internally connecting the output terminal of

differential output chip 26LS31
Analog signal input, , interior is the difference-analog amplified circuit input.
Analog signal output, , internally connecting the output of operational

amplified circuit.
Input interface of switching
Controller side
Fig. 3.5 Input interface of switching volume
（1） Power supply is provided by user，DC12～24V，current≥100mA；

（2） Note: if power polarities are wrongly connected, the servo unit does not work.
18
Output interface of switching
控制装置侧
Controller side
max 50mA
max 24V
Fig. 3.6 Output interface of switching volume

（1） External power supply is provided by user, and if its polarities are connected
reversely, the servo unit will be damaged;
（2） Output is electron collector open circuit, max. current is 50mA, and the max.
external DC power voltage is 25V. Load of switching volume output signal must
meet the requirement. If the load exceeds them or output is connected directly
with power supply, the servo unit may be damaged;
（3） If the load is an inductive one such as relay, terminals of load must be connected
with freewheeling diode in parallel. If they are connected reversely, the servo unit
will be damaged.
Pulse volume input interface
Controller side
控制装置侧
PULS+ 270
PULS-
SIGN+ 270
SIGN-
Fig. 3.7 Differential drive mode of pulse volmue input interface
19
控制装置侧 side
Controller
VCC
PULS+ 270
R PULS-
SIGN+ 270
R SIGN-
Fig. 3.8 Single terminal drive mode of pulse volume input interface
（1） It is suggested to apply differential drive mode to correctly transmit pulse volume
data;
（2） AM26LS31, MC3487 or RS422 linear driver are employed in the differential drive
mode;
（3） Action frequency will be reduced in single terminal drive mode. According to pulse
volume input circuit, Resistance R is determined by the max. 25V voltage of external
power and 10 ～ 15mA drive current of the pulse input circuit. Practical data:
VCC=24V，R=1.3～2K；VCC=12V，R=510～820Ω；VCC=5V，R=82～120Ω.
（4） Refer to Table 3－4 about pulse input form, arrowhead indicates counting curb, and
Table 3－5 shows pulse input time sequence and parameter. If two-phase input
form is employed, 4-fold pulse frequency is less than 500kHz.
Table 3－4 Pulse input pattern
Pulse instruction form CCW CW Parameter setting value

Pulse string sign 0
PULS Instruction pulse +sign
SIGN
CCW pulse string 1
CW pulse string PULS CCW pulse /CCW pulse
SIGN
A phase pulse string 2
B phase pulse string PULS 2-phase instruction
pulse
SIGN
20
Table 3－5 Pulse input sequence parameter
Parameter Differential drive input Single terminal drive input

tck >2µS >5µS
th >1µS >2.5µS
tl >1µS >2.5µS
trh <0.2µS <0.3µS
trl <0.2µS <0.3µS
ts >1µS >2.5µS
tqck >8µS >10µS
tqh >4µS >5µS
tql >4µS >5µS
tqrh <0.2µS <0.3µS
tqrl <0.2µS <0.3µS
tqs >1µS >2.5µS
th tck
90%
PULS
10%
ts tl ts
trh trl
90%
SIGN
10%
CW trh CCW trl CW
Fig. 3.9 Sketch map of pulse +sign input interface time sequence
(max. pulse frequency 500kHz)
tck
th
90%
PULS tl
10%
trh trl ts
90%
SIGN
10%
trh trl
CCW CW
Fig. 3.10 CCW pulse /CW pulse input interface time sequence (max.
pulse frequency 500kHz)
21
tqh tqck
90%
PULS tql
10%
tqs
tqrh tqrl tqs
90%
SIGN
10%
tqrl tqrh
CCW CW
Fig. 3.11 2-phase instruction pulse input interface time sequence

(max. pulse frequency 125kHz)
Input interface of photoelectric encoder
Motor side Controller side

电机侧控制装置侧
X+
X-
AM26LS32
X=A,B,Z,U,V,W
Fig. 3.12 Input interface of servo motor photoelectric encoder
22
3.5 Standard conection
3.5.1 Orientation control
Standard Wiring
Fig.3.13 Standard wiring of orientation control mode
Terminal functions of position control mode
Table 3－6 Terminal functions of orientation control mode
Sign Function Sign Function
Encoder A phase differential positive

PAOUT+ output
SON Servo on input terminal
PAOUT- Encoder A phase differential negative
output
ALRS Alarming cancellation input PBOUT+ Encoder B phase differential positive
23
terminal PBOUT- output

Encoder B phase differential negative
output
Encoder Z phase differential positive
PZOUT+ output
FSTP CCW drive stop
PZOUT- Encoder Z phase differential negative
output
Output terminal ready, identical to the
time sequence of HOLD signal, and

RSTP CW drive stop SRDY
also used for hold release output
(see section 6.3)
PULS+
PLUS instruction pulse input ALM Alarm output terminal
PULS-
Z phase pulse output of photoelectric
SIGN+ CZ+ encoder
SIGN instruction pulse input
SIGN- CZ- Common terminal of z phase pulse output
terminal
GIN Universal input terminal COIN Orienting completion output
Orientation deviation reset

CLE GOU1 General output 1
input
RLYOU+
INH Instruction pulse disabled input Reserved
RLYOU-
Hold release output of motor
HOLD+
FIL CCW torque limit input Hold release grounding output of motor
HOLD-
(see section 6.3)
RIL CW torque limit input
Power supply positive of input

terminal, used for driving
COM+ photoelectric coupling of
input terminal
DC12～24V，Current≥100mA
External input(12 ～ 24VDC)

DG
reference earthing
DGND Internal digital earthing
PE Protection earthing
24
3.5.2 Speed control
Standard Wiring
Single- or
KM1 Motor
R DA98B U 2
three- phase FIL S V 3
AC 220V T AC servo W 4
one-axis controller PE 1
r
t CN2
CN1
5 5V
6 5V
DC 12~24V COM+ 38
1k 17 5V
COM+ 39
Servo on SON 23 18 5V encoder
Alarm cancellation ALRS 8 1 0V
CCW drive stop FSTP 24 2 0V
CW drive stop RSTP 9 3 0V Vcc 2
Speed choice 1 SC1 40 4 0V GND 3
Speed choice 2 SC2 41 24 A+ A+ 4
CCW torque limit FIL 25 12 A- A- 7
CW torque limit RIL 10 23 B+ B+ 5
Universal input 1 GIN1 11 11 B- B- 8
Zero-speed clamping input ZSL 26 22 Z+ Z+ 6
10 Z- Z- 9
Universal output 1 GOU1 34 21 U+ U+ 10
Speed in position SCMP 35 9 U- U- 13
Zero speed output of motor ZSP 19 11
20 V+ V+
Servo alarm ALM 5
8 V- V- 14
Servo ready SRDY 20
19 W+ W+ 12
Output common terminal DG 32
7 W- W- 15
DG 33 13 OH FG 1
DGND 2
14 FG
15 FG
16 0V
CN1
Speed instruction VCMD 17 27 PAOUT+
A
(-10V +10VDC) 12 Pulse feedback A
PAOUT-
Speed instruction earthing AGND 1 28 PBOUT+
B Pulse feedback B
CN1 13 PBOUT-
Hold release signal HOLD+ 7 42 PZOUT+
Z Pulse feedback C
Hold release signal earthing HOLD- 6 43 PZOUT-
reserved RLYOU+ 22
reserved RLYOU- 21 31 PE
Z-phase output of encoder CZ+ 37
44 PE
Z-phase output earthing of encoder CZ- 36
Fig3.14 Standard wiring for speed control mode
Terminal functions for speed control mode
Table 3－7 Terminal functions for speed control mode
Sign Function Sign Function
Encoder A phase differential positive

PAOUT+ output
SON Servo on input terminal
PAOUT- Encoder A phase differential
negative output
Encoder B phase differential positive
Alarming cancellation input PBOUT+ output
ALRS
terminal PBOUT- Encoder B phase differential
negative output
25
Encoder Z phase differential positive

Forward rotation signal input for
PZOUT+ output
SC1 analog instruction voltage 0～10 V
PZOUT- Encoder Z phase differential negative
input
output
Output terminal ready, identical to
Backward rotation signal input for
the sequence of HOLD signal,
SC2 analog instruction voltage 0～10 V SRDY
and also used for hold release
input
output (see section 6.3)
GIN General input terminal ALM Alarm output terminal
Z phase pulse output of photoelectric
CZ+ encoder
FSTP CCW drive stop
CZ- Common terminal of z phase pulse
output terminal
RSTP CW drive stop SCMP Speed in orientation output
FIL CCW torque limit input GOU1 General output 1
RLYOU+
RIL CW torque limit input Reserved
RLYOU-
Speed analog instruction input, the
VCMD
instruction voltage range:-10～+10 Hold release output of motor
HOLD+
VDC Hold release grounding output of
HOLD-
Earthing of analog instruction input motor (see section 6.3)
AGND terminal
ZSL Zero speed clipping input terminal ZSP Zero speed output of motor
Power supply positive of input

terminal, used for driving
COM+ photoelectric coupling of input
terminal
DC12～24V，Current≥100mA
External input(12 ～ 24VDC)

DG
reference earthing
DGND Internal digital earthing
PE Protection earthing
26
Chapter 4 Parameter
Chapter 4 Parameter
There are various parameters in the servo unit to be adjusted and set to the performance,
characteristics and so on, which can meet the requirement for the different functions by
user. The user should make a complete study of the parameters before searching, setting
and adjusting the parameters by the control panel.
4.1 Parameter list

P: orientation S: speed
No. Name Applicable Setting range Factory setting Unit
mode
PA 00 Password 0~9999 315
PA 01 Motor type code 0~63 0
PA 02 Software version (read only) 2.04
PA 03 Initial display state 0~20 0
PA 04 Control mode selection 0~5 1
PA 05 Speed proportional gain P,S 5~2000 600
PA 06 Speed integration time constant P,S 1~1000 15
PA 07 Torque instruction filter P,S 1-1500 500 %
PA 08 Speed detecting low pass filter constant P,S 1~5000 200
PA 09 Orientation proportional gain P 1~1000 40 1/S
PA 10 Orientation feedforward gain P 0~100 0 %
PA 11 Orientation feedforward instruction filter P 1~1200 300 Hz
cut-off frequency
PA 12 Orientation instruction pulse dividing P 1~32767 1
numerator
PA 13 Orientation instruction pulse dividing P 1~32767 1
denominator
PA 14 Input and analog instruction selection of P 0～3 0
orientation instruction pulse
PA 15 Orientation instruction pulse reverse P 0~1 0
direction
PA 16 Orienting completing range P 0~30000 20 Pulse
PA 17 Orientation out-of-tolerance detecting P 0~30000 400 ×100 pulse
range
PA 18 Orientation out-of-tolerance invalid P 0~1 0
PA 19 Reverse analog speed S 0~1 0

PA 20 Drive stop input invalid P,S 0~1
PA 21 JOG running speed instruction S -31000~31000 2000 0.1rpm
PA 22 Analog speed instruction aberrance S -500~500 0 0.1rpm
PA 23 Max. speed limit P,S 0~31000 30000 0.1rpm
PA 24 Internal speed 1 S -30000~30000 1000 0.1rpm
27
PA 25 Internal speed 2 S -30000~30000 -500 0.1rpm

PA 26 Internal speed 3 S -30000~30000 2000 0.1rpm
PA 27 Internal speed 4 S -30000~30000 -3000 0.1rpm
PA 28 Speed in orientation S 0～30000 5000 0.1rpm
PA 29 Max. speed of analog instruction S 0～31000 25000 0.1rpm
PA 30 Conversion numerator for linear speed P,S 1～32767 10
PA 31 Conversion denominator for linear speed P,S 1～32767 1
PA 32 Decimal point for linear speed P,S 0～5 3
PA 34 Internal CCW torque limit P,S 0～300 300 %
PA 35 Internal CW torque limit P,S -300～0 -300 %
PA 36 External CCW torque limit P,S 0～300 300 %
PA 37 External CW torque limit P,S -300～0 -300 %
PA 38 JOG torque limit of trial speed S 0～300 300 %
PA 52 Latency for hold stop P,S 0-32767 0 ms
4.2 Parameter function

No. Name Parameter
Function
range
PA 00 Password 0~9999
It is used for parameter not to be modified by mistake. Set it for 315
when a parameter is needed to set. After debugging, set it for 0 to
ensure it not to be modified by mistake later.
PA 01 Motor type code The motor models Corresponding to PA01 are as following, refer to 0~63
Section 4.3 for details.
PA01 Motor model
12 110SJT-M060D
17 130SJT-M100D
19 130SJT-M150D
35 110ST-M04030H
46 130ST-M06025H
PA 02 Software version ① Software version can be seen but can not be modified. Ver 2.04
PA 03 Initial display state 0： Motor speed display; 0~20

(Display state 1： Low 5-bit digit display of current orientation;
selection after servo
2：High 5-bit digit display of current orientation;
unit power is
3：Low 5-bit digit display of orientation instruction(instruction pulse
switched on)
accumulation );
4：High 5-bit digit display of orientation instruction(instruction pulse
accumulation );
5：Low 5-bit digit display of orientation deviation;
6: High 5-bit digit display of orientation deviation;
28
Chapter 4 Parameter
7： Motor torque display;

8： Motor current display;
9： Linear speed display;
10：Control mode display;
11： Orientation instruction pulse frequency display;
12： Speed instruction display;
15： Input terminal state display;
16： Output terminal state display;
17： Encoder input signal display;
18： Running state display;
19： Alarm code display;
20： Reserved.
PA 04 Control mode Set control mode of the servo unit by the parameter: 0~5
selection 0：Orientation control mode, orientation instruction input by pulse input
port
1：Speed control mode, speed instruction input by VCMDIN, VCMDINC
analog input terminals
2：Internal speed control mode
SC2 SC1 Internal speed

OFF OFF 1
OFF ON 2
ON OFF 3
ON ON 4
3：Manual mode
4：JOG mode
5：Encoder zero-adjusting mode
PA 05 Speed proportional ① Proportional gain set of speed loop regulator 5~2000Hz
gain ② The bigger the setting value is, the higher the gain is and the bigger
the rigidity is. Parameter value is determined by specific servo unit
model and load. Generally, the bigger the load inertia， the bigger the
setting value is.
③ Set the bigger value if there is no vibration for system.
PA 06 Speed integral time ① Integral gain set of speed loop regulator 1~1000ms
29
constant ② The bigger the setting value is, the higher the integral speed is and
the bigger the rigidity is. Parameter value is determined by
specific servo unit model and load. Generally, the bigger the load
inertia， the smaller the setting value is.
PA 07 Torque instruction ① Set cut-off frequency of low pass filter of torque instruction. 1-1500%
filter ② It is used for limiting the frequency band of current instruction to get
the stable current response against the impact and vibration of the
current.
PA 08 Speed detecting low ① Low pass filter cut-off frequency set for speed detection 1~5000
pass filter constant ② The smaller the setting value is and the lower the cut-off frequency
is, the lower the noise from motor is. If the load inertia is very large,
reduce the setting value properly. If the value is too small, vibration
may be caused by slow response.
③ The bigger the setting value is and the higher the cut-off frequency
is, the quicker the speed feedback response. If higher speed
response is needed, the setting value can be increased
appropriately.
PA 09 Orientation ①Proportional gain set of orientation loop regulator 1~1000/S
proportional gain ②he bigger the setting value is, the higher the gain is and the bigger the
rigidity is, the smaller the orientation lag is. But if the value is too big, the
vibration and overshoot may occur.
③The value is decided by special servo unit model and load.
PA 10 Orientation ① Feedforward gain set of orientation loop 0~100%
feedforward gain ② When it is set for 4096, it means that orientation lag is 0 in any
instruction pulse frequency.
③ If the feedforward gain of orientation loop increases and the high
response of the control system is raised, overshoot may occur for the
instability of the system orientation loop caused.
④Unless the high response is needed, the feedforward gain of
orientation loop is usually 0.
PA 11 Orientation ①Cut-off frequency determination of orientation loop feedforward low 1~1200
feedforward pass filter.
instruction filter ②The low pass filter is used for increasing the stability of complex
coefficient orientation control.
③The bigger the parameter value is and the higher the cut-off frequency
is, the more liable the noise and overshoot are to occur in running.
PA 12 Orientation 1~32767
instruction pulse Refer to Section 6.2.5.
dividing numerator
PA 13 Orientation instruction 1~32767
Refer to Section 6.2.5.
pulse dividing
30
Chapter 4 Parameter
denominator
PA 14 Input and analog ① there are 4 modes to be selected: 0～3
instruction selection 0 pulse+sign; analog voltage(-10～+10) valid in analog instruction
of orientation mode
instruction pulse 1 CCW pulse/CW pulse
2 two-phase orthogonal pulse input
3 analog voltage(0～+10) instruction valid in analog instruction mode
(SC2, SC1 for forward and reverse rotation selection)
② CCW rotation is defined as the forward direction when viewed from
the axial direction.
③ CW rotation is defined as the reverse direction when viewed from
the axial direction.
PA 15 Orientation ① Reverse direction of orientation instruction pulse, set for 0~1
instruction pulse 0：normal;
reverse direction 1：reverse direction of orientation instruction pulse.
PA 16 Orienting completing ① Pulse range set for orienting completion in orientation control mode. 0~30000
range ② The parameter provides factors the servo unit judges whether the pulse
orienting is completed in orientation control. When remainder pulses
in orientation deviation counter are less than or equal to the setting
value of the parameter, the servo unit defaults that the orienting is
completed and the signal for it is COIN ON, otherwise it is COIN OFF.
③ Orienting completing output signal is COIN in orientation control
mode, and speed in-orientation output signal is SCMP in other control
mode.
PA 17 Orientation out-of- ① Alarm detection range set of orientation out-of-tolerance. 0~30000×
tolerance detecting ② In orientation control mode, servo unit makes alarm of orientation 100 pulse
range out-of-tolerance when the counting of orientation deviation counter

exceeds the parameter setting.
PA 18 Orientation out-of- ① Orientation out-of-tolerance enabling parameter, set for 0~1
tolerance invalid 0：The alarm is valid.

1：The alarm is invalid.
PA 19 Reverse analog Reverse of analog speed instruction, set for 0~1
speed 0：Normal.
1：Reverse of analog speed instruction.
PA 20 Drive stop invalid Drive stop invalid input setting, set for 0~1
input 0：Allowable input of drive stop signal
1：Not allowable input of drive stop signal.
PA 21 JOG running speed -31000~31
instruction The running speed set in JOG mode. 000
0.1r/min
PA 22 Analog speed -500~500
Analog speed instruction aberrance set
instruction 0.1r/min
31
aberrance
PA 23 Max. speed limit ① Max. speed limit set of servomotor. 0~31000
② It is irrelevant to rotary direction. 0.1r/min
③ If the setting exceeds the rated speed, the actual max. speed limit is
the rated speed.
PA 24 Internal speed 1 -30000 ～
① Internal speed 1 set.
30000
See PA04.
0.1r/min
① Internal speed 2 set.
30000
②See PA04.
0.1r/min
①Internal speed 3 set.
30000
②See PA04.
0.1r/min
①Internal speed 4 set.
30000
②See PA04.
0.1r/min
PA 28 Speed in orientation ① Speed in orientation set 0～30000
② Not available in orientation control mode 0.1r/min
③ Irrelative to rotation direction
PA 29 Max. speed of Instruction value of max. speed corresponding to max. analog voltage 0～31000
analog instruction output 0.1r/min
PA 30 Conversion ① Used for linear speed 1～32767
numerator for linear ② Linear speed = motor speed (r/min)×
speed conversion numerator for linear speed
conversion denominator for linear speed
③ The orientation of linear speed decimal point is determined by
parameter PA32. And 0 stands for no point, 2 for 2-bit and so on.
④ 【Example】If servo motor drives 10mm ball screw, then set the
conversion numerator for linear speed for 10, conversion
denominator for linear speed for 1, the decimal point orientation of
linear speed is 3. linear speed can be displayed in monitor with the
unit m/min. When the speed of motor is 500r/min, linear speed
5.000m/min will be displayed.
PA 31 Conversion 1～32767
denominator for See parameter No.30.
linear speed
PA 32 Decimal point for 0～5
See parameter PA30.
linear speed
PA 34 Internal CCW torque ① Internal torque limit set in CCW direction of servo motor. 0～300%
limit ② The setting is the percent of rated torque. e.g. if the setting is the
double of rated torque, the setting is 200.
32
Chapter 4 Parameter
③ The limit is valid under any conditions.

④ If the setting exceeds max. overload allowable, the actual torque
limit is the max. loading.
PA 35 Internal CW torque ①Internal torque limit set in CW direction of servo motor. -300～0%
limit ②The setting is the percent of rated torque. e.g. if the setting is the
double of rated torque, the setting is 200.
③The limit is valid under any conditions.
④If the setting exceeds max. overload allowable, the actual torque limit
is the max. loading.
PA 36 External CCW ① External torque limit set in CCW direction of servo motor. 0～300%
torque limit ② The setting is the percent of rated torque. e.g. if the setting is the
rated torque, the setting is 100.
③ The limit is valid only when the CCW torque limit input terminal (FIL)
is ON.
④ If the limit is valid, the actual torque limit is the minimum of the
absolute values among the max. overload allowable, internal or
external torque limit.
PA 37 External CW torque ① External torque limit set in CW direction of servo motor. -300～0%
limit ② The setting is the percent of rated torque. e.g. if the setting is the
rated torque, the setting is 100.
③ The limit is valid only when the CW torque limit input terminal (RIL)
is ON.
④ If the limit is valid, the actual torque limit is the minimum of the
absolute values among the max. overload allowable, internal or
external torque limit..
PA 38 JOG torque limit of ①The setting is the percent of rated torque. e.g. if the setting is the rated 0～300%
trial speed torque, the setting is 100.
② Internal or external torque limit is valid in any conditions.
PA 52 Latency for hold ①As for the motor with brake, if the servo on signal is cancelled, the ms
stop motor will be activated for working for some time by servo unit.
② Latency=setting value×4ms
(Refer to Section 6.3.)
4.3 Model code parameters for motors
PA01 parameters for STZ series servo motor
PA01 parameter Model and technological parameters of servo motor Remark

-3 2
10 110SJT-M020E，0.6kW,220V, 3000rpm,3A,0.34×10 kg.m
11 110SJT-M040D, 1.0kW,220V, 2500rpm,4.5A,0.68×10-3kg.m2
12 110SJT-M060D, 1.5kW,220V, 2500rpm,7A,0.95×10-3kg.m2
33

16 130SJT-M075D, 1.88kW,220V, 2000rpm,7.5A,1.95×10-3kg.m2
17 130SJT-M100D, 2.5kW,220V, 2500rpm,10A,2.42×10-3kg.m2 ※
-3 2
18 130SJT-M100B, 1.5kW,220V, 1500rpm,6A,2.42×10 kg.m
19 130SJT-M150B, 2.3kW,220V, 1500rpm,8.5A,3.1×10-3kg.m2 ※
20 130SJT-M150D, 3.9kW,220V, 2500rpm,14.5A,3.6×10-3kg.m2 ※
34 110ST-M02030H，0.6kW,220V, 3000rpm,4A,0.33×10-3kg.m2
35 110ST-M04030H，1.2kW,220V, 3000rpm,5A,0.65×10-3kg.m2
36 110ST-M05030H，1.5kW,220V, 3000rpm,6A,0.82×10-3kg.m2
37 110ST-M06020H，1.2kW,220V, 2000rpm,6A,1.00×10-3kg.m2
39 130ST-M04025H，1.0kW,220V,2500rpm,4A,0.85×10-3kg.m2
45 130ST-M05025H，1.3kW,220V, 2500rpm,5A,1.06×10-3kg.m2
46 130ST-M06025H，1.5kW,220V, 2500rpm,6A,1.26×10-3kg.m2
47 130ST-M07720H，1.6kW,220V, 2000rpm,6A,1.58×10-3kg.m2
49 130ST-M10015H，1.5kW,220V, 1500rpm,6A,2.14×10-3kg.m2
50 130ST-M10025H，2.6kW,220V, 2500rpm,10A,2.14×10-3kg.m2 ※
51 130ST-M15015H，2.3kW, 220V, 1500rpm,9.5A,3.24×10-3kg.m2 ※
60 150ST-M27020H，5.5kW,220V, 2000rpm,20.5A
For the motor above with the “※” mark, thickened radiator should
be applied for the suited servo unit.
34
Chapter 5 Display and operation
5.1 Keys operation
The DA98B servo unit is very easy to operate that the functions required can be set
by only 4 keys. The outline of its panel is as following:
6-bit digital LED displayer
For increment of sequence number,

value or forward selection
For decrease of sequence number, value or backward selection
Entering into the next layer of optional

menu or input confirmation
Back to the upper layer of optional

menu or operation cancellation
Operation procedure
1) In the speed monitoring mode, after switching on the power supply of the servo
r 0.0
unit, the default display is: ；
2) The operation is performed according to multi-layer menus. The first layer is the
main menu that consists of 9 kinds of operation modes, the second layer is the
function menus in various operation modes. The fig.5.1 shows the diagram block
of the main menu:
3) According to the diagram block above, pressing ‘ ’key or holding ‘ ’ can enter
into the main menu, then press‘ ’ or ‘ ’key to select any mode in the 9 modes.
After selecting a mode, press key to enter the next menu of the mode.
Press ‘ ’ key to return if backing to upper menu is required.
Holding ‘ ’or ‘ ’key on, the operation will be repeated. The more the
holding time is, the faster the speed repeated is.
35
Monitor mode
Parameter setting
Parameter
management
Speed trial run
JOG run
Encoder zero-
adjusting
Analog zero-
adjusting
Fig. 5.1 Diagram block of main menu
5.2 Monitoring mode
① Select “ ”in the main menu and press ‘ ‘ key to enter into
monitoring mode.
② There’re 21 display modes in monitoring mode. Select the desired display mode
by‘ 、 ’keys, then press to enter into monitoring mode.

‘ ’
36
Fig. 5.2 Diagram block of monitoring mode
Explanation
1. or
r： Speed code for motor. It displays‘－’if the motor runs reversely in that
speed.
1000.0：Speed value for motor Unit: rev/min
2. The pulse number unit in this servo unit is 10000 pulse/rev, and orientation pulse
number is comprised by two parts of high 4-bit and low 5-bit. e.g.
× 10000 ＋＝1245806 pulses
i.d. orientation instruction pulse number is also comprised by two parts, e.g.：
× 100000 ＋＝1245810 pulses
37
Therefore, the formula for orientation deviation is:
＝－
＝－
3. Alarm display:
Alarm number
：No alarm, normal
：No.1 alarm
：No.36 alarm
4. Running display
：Servo unit is being running
：Main circuit having been charged
：Main circuit having not been charged
5. Instruction pulse values in orientation mode are the magnified ones through
electronic gear.
6. Pulse frequency of orientation instruction is the actual one before inputting it
to the electronic gear with positive number for positive direction and negative
number for negative direction and its min. unit is 0.1kHz.
7. The formula for effective value of phase current of motor is as follows:
1 2
I= ( I U + I V2 + I W2 )
3
8. The absolute orientation of rotor in a revolution means the relative orientation
of rotor to stator, where a revolution for a period with the range 0～9999.
9. The orientations of input terminals, output terminals and encoder signal are
38
shown as follows, and their definitions are shown in Fig.5.3, Fig.5.4, Fig. 5.5.
Fig. 5.3 Input terminal display (bright light is ON and dark light is OFF)
Fig. 5.4 Output terminal display (bright light is ON and dark light is OFF)
Fig. 5.5 Encoder signal display (bright light is ON and dark light is OFF)
5.3 Parameter setting
Prior to parameter setting, modify the parameter by the user password according to the
PA00 parameter in the parameter list. After the setting, press the‘ ’key for confirming
the setting. Attention should be paid for the parameter setting range against accident.
Select “PA-”in the first layer and press‘ ’to enter into parameter setting mode. Select
parameter number by‘ 、 ’,then press‘ ’to display the value of the parameter,
modify the value by‘ 、 ’. Press ‘ ’ or‘ ’key for once to increase or decrease 1 for
the parameter value, press and hold on‘ ’or‘ ’to continuously increase or decrease
value for the parameter. When the parameter value is modified, the decimal point of
rightmost LED digital tube is lighted, press‘ ’to confirm the modification, and then
the decimal point of rightmost LED digital tube is put out. And the modified value will
39
immediately be reflected in the control process, press‘ ’or‘ ’to go on modify
parameters till the completion of modification, then press ‘ ’to back to parameter
selection mode. Do not press‘ ’to confirm if the parameters modified are not proper,
press‘ ’to cancel it to make the parameter recover to its original value and back to the
parameter selection mode.
The following is the parameter setting procedure for GSK 110SJT-M040D servo motor:
Power on Parameter value

Back a layer Modification Model code parameter
Confirmation of the respective motor

Back a layer
Menu selection Back a layer
Forward a layer Back a layer
Parameter value Menu selection
Modification Forward a layer
Confirmation Default call
Back a layer Hold for 2s
Parameter selection
Fig. 5.5 Diagram block of parameter setting
5.4 Parameter management
The parameter management is mainly used for memory and EEPROM operation.
Select “EE-” in the first layer and press‘ ’to enter into parameter management
mode. 5 operation modes can be selected by ‘ 、 ’keys. For example, for
“ parameter writing ” , select “EE-Set”，then press‘ ’and hold it on for over 1
second, the monitor displays “ ” that means the parameter is being written
into EEPROM. After 1~2 seconds, the monitor displays “ ” if the writing is
successful, otherwise“ ” is displayed. Press ‘ ’again to return to operation

selection mode.
z EE－Set: parameter writing. It means to write the parameters in the memory into
EEPROM parameter area. The parameters modified by user only change the
parameter values in the memory that they will restore to their original values after
power is on again. If the parameter values are changed permanently, parameter
writing should be executed to write the parameters in the memory into the
EEPROM parameter area, so the modified parameter values will be valid after
40
power is on again.
z EE－rd: parameter reading. It means to read the data in EEPROM parameter
area into the memory. The process will be executed automatically when power is
on. At the beginning, the parameters in the memory are the same as that of
EEPROM parameter area. If the parameters are modified by user, the parameter
values in the memory will be changed. If the user is not satisfied with the modified
parameter values or the parameters are disordered, the parameter reading can be
executed to read data in EEPROM parameter area into the memory to recover the
original parameters in the state of power on.
z EE－bA: Parameter backup. (Reserved)
z EE－rs： Restoring backup. (Reserved)

z EE－dEF: Restoring default value. It means to read all default values (factory
setting) of parameters into the memory and write them into EEPROM parameter
area that they will be used when power is on again. Perform the above operation
to restore all parameters to their factory setting if the parameters are disordered
by user that cause the system to run abnormally. Because the different servo
motor corresponds to different parameter default value of the servo unit, the model
code of the servo motor must be ensured (parameter PA01) when restoring
default parameters.
Fig. 5.6 Diagram block of parameter management
41
The parameter setting will not be saved after the power is down and the
modification is invalid if the writing has not been executed for the
modified parameter.
5.5 Additional information
The function of automatic gain adjustment being developed at present is not available.
The encoder zero-adjusting function unallowable to be used by user is provided for motor
manufacturer.
42
Chapter 6 Trial run
Chapter 6 Trial run
6.1 Check before trial run
① Check wiring:
z Ensure the wiring, especially the connections of the power supply wiring and motor
wiring of servo unit.
z Ensure the earthing connection.
② Check power supply to ensure the normal voltage.
③ Fix the servo motor securely against overturning or bumping.
④ Perform the dry run operation in trial run to make sure the normal running prior to loading
running.
43
6.2.1 Sequence of power on for servo unit
The connection of power supply is shown as Fig.6.1, switch on the power by

following steps:
1) Put the power supply to the power input terminals of main circuit ( 3-phase to R,
S, T respectively, single phase to R,S) by electromagnetic contactor（NFB、
MC）.
2) The r, t terminals of control circuit should be switched on prior to the main circuit
power (or with it simultaneously without MC), then switch on the main circuit
manually. The cut-off function of main power for alarm is attached to the circuit.
Fig.6.1 Power supply wiring

3) If servo on (SON) is ON after the connection of the control power with the main
circuit power, the motor is activated and the system is on running. If servo on
signal is switched off or alarming occurs, the base electrode circuit closes and
the motor is in a free state.
a) If servo on (SON) is switched on with power supply, the motor is activated
in about 100 ms.
b) Frequent switching on or off the power supply may damage the soft start
circuit and energy hold circuit. The frequency limit for switching on or off
should be 5 times per hour or 30 times per day. If the servo unit or motor is
overheated, only by cooling of 30 minutes after the fault is exterminated,
can the power supply be switched on again.
4) Sequence for power switch on
44
Chapter 6 Trial run
Power power on power down

supply
ALRS
reset
SON OFF ON OFF ON OFF
Motor power off power on power off power on power off

activated
t <600 us t <1 ms
OFF ON OFF ON OFF

SRDY
<600ms t <300 us
alarm on
ALM
power on detection t ＝ PA52 × 4

800ms
6.2.2 JOG running
Do switch off load prior to JOG running. If the JOG running is well done, it means that the
connection between the motor and the servo unit is correct.
Steps:
⑴ Connect CN1 for the control signal : OFF for servo enabling, ON for CCW drive
stop(FSTP), ON for CW drive stop(RSTP).
⑵Power on for servo unit and the initial display is:
⑶Press‘ ’key, it displays:
⑷Repress‘ ’key to back to the first layer menu, it displays
⑸Press ‘ ’or ‘ ’key to find the parameter setting menu
⑹Press‘ ’key, it displays
⑺Press ‘ ’or ‘ ’key to find the No.4 parameter (others)
⑻Press ‘ ’or ‘ ’key to set No.4 parameter to 4, it displays
45
⑼Press‘ ’key to confirm the setting of the No.4 parameter,

it displays
⑽i.b., set the PA21 parameter to the motor speed required,

i.e. the JOG speed
⑾Press ‘ ’key to back to the first main menu layer to

find the JOG mode
⑿Press‘ ’key, it displays
⒀Set ON for the enabling, press‘ ’key and hold it on, the motor runs by the setting speed,
release the key, the motor running stops; press‘ ’key and hold it on, the motor runs
reversely by the setting speed, release the key, the motor running stops with zero speed.
6.2.3 (Sr-) trial run
Change the value in PA-4 by 3 according to the JOG running steps above; select “Sr-” in the
first layer, press‘ ’key to enter into trial run mode. The prompt for speed trial run is “r”,
and its unit is 0.1r/min. The system is in a speed control mode and the instructions of speed
are provided by keys operation. C, the motor runs by the speed instructions changed
by‘ 、 ’key. Pressing ‘ ’key increases the speed, and pressing‘ ’key decreases the
speed. While the speed displayed is positive number, the motor runs forward; and negative
number for backward.
6.2.4 Speed control run
There’re two kinds of running control for speed. One is the analog speed instruction input,
the other is internal speed instruction. Details are as follows:
Analog speed instruction input
1) Input the control signal by the Fig.6.2 wiring diagram block: OFF for servo on (SON),
ON for CCW drive stop (FSTP), ON for CW drive stop (RSTP).
2) Set the analog voltage instruction for 0 V, ON for servo on (SON), the motor is activated
46
Chapter 6 Trial run
with zero speed. If the motor runs in low speed, adjust the parameter PA22 to make the
motor to be in zero speed state.
3) Slowly adjust the analog voltage, the motor speed will vary by the voltage variation. The
highest motor speed in ±10V input voltage can be adjusted by modifying parameter
PA29. Be attentive that the highest running speed is limited by PA23.
4) Modify parameter PA19 if the rotation direction is required to be changed.
When PA19=0, motor runs forward (CCW) for positive voltage, backward(CW) for
negative voltage;
When PA19=1, motor runs backward (CW) for positive voltage, forward(CCW) for
negative voltage;
5) If vibration occurs in the CNC closed loop running, adjust parameter PA08 for feedback
filtering.
Wiring diagram block: pameter list
Sequence Name Setting range Factory

DC
number setting
12-24V 38 COM+ PA04 Control mode 0～6 1
23
SON selection
24
FSTP PA08 Low pass filter for 1～5000 200
9 RSTP speed detecting
PA19 Reverse of analog 0～1 0
17 speed
VCMD
DC 1
PA22 Instruction deviation -500～500 0
-10V-+10V AGND of analog speed
PA23 Highest speed setting -30000～30000 25000
for motor
PA29 Highest speed of -30000～30000 25000
analog instruction
Fig.6.2 Wiring for analog instruction control
Wirings for two types of CNC system for milling machines made by us.
47
- + - + -+
- + T T T T TT +- + -M +
D D U U U U UU SS
M NL N NO M
GCZ
Fi.g 6.3（a）Valid for analog and pulse instructions
M M O O O O OO L OU L G O - + - + -+
C C A A B B ZZ A SP U I IZC C - + T T T T TT + + PP
V V P P P P PP P S SC D D U U U U UU MNM TT
MG S
M M O O O O OO LOO OD R S
17 2 7 3 8 3 2 C C A A B B ZZ ASC C F
11 21244
53 0 5 9 4 67 8
231 2 1 33 3 V V P P P P PP
17 2 7 3 8 3 2 5 39 82 4
1 1 2 1 2 4 4 23 3392
（b）Valid for analog instruction
48
Internal speed instruction

+-
D D 0 1+- RR V
NM # # # N TPP II 0 4D
GC UCC DD C A B ZZ + + V
AV AA B B ZZ I OXX XX P 2N C C A C B CC Y - VV
+G VCP
V C P C PP D N
O 4 N 00
-+ *P *P * S RS 2 O
657
14 3 5 4 1 1 2 03 8 0
+ S
1 1 1 1 792 12 1
05 2 7 3 8 1 6 4 9 3 4 5
1 21
10 1 1 1
22
Chapter 6 Trial run
1) Input the control signal by connecting CN1: OFF for servo on(SON), OFF for speed
choose1 (SC1), speed choose2 (SC2), ON for CCW drive stop (FSTP), ON for CW
drive stop (RSTP).
2) Switch on the power supply of the control circuit, the servo unit displayer will light.
Check connection if alarming occurs.
3) Set the control mode selection(parameter PA04) for speed running mode(set for 2), set
the speed parameters PA24～PA27 as required.
4) Set servo on(SON) for ON, the motor will be activated for internal speed running state.
5) Change the states of input signal SC1, SC2 for different combinations of internal speed,
which is shown as following table:
S C 1 Internal speed Parameter Setting range Unit

S C 2
0 1 PA24 -30000～+30000 0.1rpm
0
0 2 PA25 -30000～+30000 0.1rpm
1
1 3 PA26 -30000～+30000 0.1rpm
0
1 4 PA27 -30000～+30000 0.1rpm
1
6.2.5 Orientation control run
1) Input the control signal by the Fig.6.4 wiring diagram block: OFF for servo on(SON),
ON for CCW drive stop (FSTP), ON for CW drive stop (RSTP).
2) Switch on the power and adjust the parameters, set appropriate electronic gear ratio
(PA12, PA13).
The so-called ‘electronic gear function’ is a function that compared to the mechanical
gear, the motor moving that is equivalent to the input instruction pulse can be set for any
value by the adjustment of servo parameters without considering the mechanical
reduction ratio and encoder pulses in controlling. By the setting of PA12, PA13
parameters, it is easy for user to match with various pulse resources to get the desirable
control resolution (i.e. angle/pulse).
The formula for electronic gear ratio is as follows:
P×G = N ×C ×4
P：pulse amount of input instruction;
49
G：electronic gear ratio;

G=dividing numerator / dividing denominator
1
Recommended range of G is: ≤ G ≤ 50
50
N：motor rotating circles;
C：photoelectric encoder lines/rev, in this system C=2500
【Example 1】When input instruction pulse is 6000, and servo motor rotation is 1:
N × C × 4 1 × 2500 × 4 5
G= = =
P 6000 3
so parameter PA12 is set for 5 and PA 13 is set for 3.
【Example 2】
If the workpiece is required to move 10mm
Electronic gear ratio not used Electronic gear ratio used

For a 6mm moving in a revolution, it The mechanical condition and
needs 10÷6＝1.6666 revolution; as for instruction unit must be defined in
2500×4 pulses for a revolution, the advance by electronic gear ratio. If
instruction pulse input is the instruction unit is set for 1 um,
1.6666×2500×4＝16666 pulses. And 10mm moving needs
the operation must be executed in the 10mm÷1um=10000 pulses.
upper device.
3) Set servo on(SON) for ON on condition that no alarming and abnormity occurs. The
motor will be actuated for zero speed.
4) Input low frequency pulse to make the motor run in a low speed, and check whether
the motor speed is the setting one. Stop inputting low frequency pulse to see
whether the motor stops. Adjust the parameter if the motor runs in a low speed.
50
Chapter 6 Trial run
Wiring diagram block Parameter list
DC Sequence Name Setting Factory

12-24V 38
number setting
COM+ PA04 Control mode selection 0 1
23 SON PA14 Pulse input mode 0 0
24
FSTP PA12 Orientation instruction See Section 1
9 RSTP dividing numerator 6.2.5.
PA13 Orientation instruction 1
dividing denominator
PLUS+ PA05 Speed gain Adjust it by
70
PLUS- PA06 Time constant for speed requirement.
DC SIGN+ integral See parameter

70 PA09 Orientation control gain adjustment in 40
5V SIGN-
PA10 Orientation feedforward Section 6.4. 0
gain
PA11 Cut-off frequency of 300
orientation feedforward
instruction filter
Fig.6.4 Wring of orientation instruction control

Wiring sketch map for CNC system of GSK980TD turning machine
GSK980TD(X or Z axis) DA98B CN1

XS30 or XS31
CCD D DP nn 0 +
PPI I AC SE V 2
+-RR L EN
1 920 53 6 7 1 4
PP S
UU I
LL N G
SS + N
+-
31 21 3 42 3 3 3
05 94 5 6 13 2 7 8 9 3
+-M T
G
1
SA C
IL Z
-
M C
OHN
M
ISDCC RD
NOGZO SG
1
4
V
M T
+ P
3
DB15(male plug)
F
S
T
P
2
4
Metal shell
DB44(female plug)
Fig.6.5 Valid pulse instruction
51
6.3 Application of hold release signal
In order to lock the vertical or tilted work table linked with the motor against falling down by
the servo power off, servo motor with hold brake is usually employed. The hold releasing
signal （HOLD±）is provided for the effective control of the motor with hold in the servo unit.
The hold brake is only for work table hold and is not allowed to be
used for reduction and stop of machine.
Fig.6.6 shows the wiring applied for the control of motor by the hold release signal. The 24V
power supply in the map is provided by user. The polarities of power should be noticed
when switching on the hold release signal（HOLD±）. The time sequence of SRDY and
HOLD± are identical and they both can be used for the hold release signal for special
purpose. The wiring is as following.
Fig. 6.6 ( a ) Typical instance of the HOLD± hold release signal
Fig. 6.6 ( b ) Typical instance of the SRDY hold release signal
The Fig.6.7 shows the time sequence sketch map of normal hold release signal. When the
servo on（SON）is switched off, the motor’s actuation is cut off in suspense. Cut off the
motor’s actuation if the motor shaft is completely clamped after the power off of hold coil.
The latency is defined by parameter PA52.
52
Chapter 6 Trial run
P
o
w
e
r
P
o
w
e
r
o
n
s
u
p
p
l
y
S
O
N
O
F
F
O
N
O
F
F
O
N
O
F
F
Ma
o
t
o
ra
c
t
i
v
t
e
d
p
o
w
e
r
o
f
f
p
o
w
e
r
o
n
p
o
w
e
r
o
f
f
p
o
w
e
r
o
n
p
o
w
e
r
o
f
f
t
u
s
<600
h
o
l
d
o
n
h
o
l
d
o
f
f
h
o
l
d
o
n
h
o
l
d
o
f
f
h
o
l
d
o
n
H
O
L
D
O
N
O
F
F
O
N
O
F
F
O
F
F
S
R
D
Y
<
6
0
0
m
s
A
l
a
r
m
o
n
A
L
M
Pd
oe
wt
e
rc
oo
nn
t
P
A
5
2
＝ ×4
e
t
i
Fig.6.7 Sequence sketch map for hold release signal
When the power is cut off, no drive is available for servo unit. Affected by the outer
circuit (etc. relay), the braking coil is powered off in suspense for dwelling braking action
that will cause the instant falling of the work table by gravity. When turning off the
system, first switch off enabling (SON) to ensure the output of the braking signal, then
cut off the power.
53
Typical wiring diagram of GSK 980TD

980TD matched with DA98B servo system
unit on turning machine
System
switch power
L 220V N 220V
Switch-off Switch-on
KM1
KM1
24V Used for cutting off hold signal

power against work table falling
Hold down while power down
motor
relay KM1
SRDY 7
DG 6
Hold coil
KM1
380V 220V
380V AC
DA98B
power 380V 380V AC 220V
servo unit
input transformer
380V 220V
6.4 Parameter adjustment for machining characteristics improvement
DA98B basic parameter adjustment diagram
54
Chapter 6 Trial run
Parameter adjustment for speed loop regulator
PA05 Proportional gain of speed loop range（150-900）

PA05 is the speed loop proportional gain KP, if its value increases, the action of the
servo will be more agile and faster. If the value is a bit larger, the motor screams with
hardened rigidity. The speed fluctuation of motor increases (inferior surface finish). If
the value is too large, the motor becomes instable, if the value is too small the crawling
of motor occurs for the motor’s softening as well as the action of servo adjustment
lowered. And overshooting of speed occurs in the transmission and loading alternation.
The smaller the value is, the larger the overshooting is. Extreme overshooting will result
in the low frequency oscillation. KP increasing may lower the error of the stable in the
steady system and increase the controlling precision, but the error can’t be
exterminated. If the PA05 value is lower than 100, normal cutting is unavailable for
over-cutting occurred. If the value is higher than 900, severe screaming occurs. In the
absence of oscillation, set a larger value as far as possible. Usually, the bigger the load
inertia is, the smaller the PA05 value set is.
PA06 Speed loop integral gain range (1-15)

PA06 is speed loop integral gain. In practice the parameter can be set in a range of 1～
15, the error of the stable will be lowered if it is properly set and speed fluctuation
lowered. If the value is set for too large, shaking occurs and running speed fluctuation
increases. It is usually set for 2 or 3.
PA07 Filter coefficient of torque instruction range（300-1200）

Used for the cut-off frequency setting of low pass filter of torque instruction.
It is used for limiting the instruction frequency band of current to make the current
respond steadily against current shock and vibration.
If the value is too small, the motor shakes. Set a large value as far as possible if no
oscillation occurs. It is usually set for 600.
PA08 Low pass filter filtering coefficient of speed detection range（40-1000）

The smaller the setting is, the better the filtering effect is. If the setting is too small, the
speed fluctuation increases that results in severe shaking in running.
If the setting is too large, the speed fluctuation increases with the motor screaming. It
is usually set for 80.
PA50 Filtering coefficient of external analog instruction range（20~4096）

If the setting is too small, overshooting occurs in transmission with enhancing
55
fluctuation. If the setting is decreased, the filtering for analog instruction will be
enhanced. The error of the stable increases (error followed increasing) and running
characteristic lags severely if the setting is too small. If the setting is too large, the
speed fluctuation and instruction disturbance enhance that may result in shaking.
Parameter adjustment for position loop
Set proper speed proportional gain PA05 and speed integral gain PA06 according to the
methods introduced above.
PA09 Orientation loop proportional gain range（10-70）
PA09 is the orientation loop proportional gain. Set a larger value as far as possible in a
stable range. For a large orientation proportional gain, on one side, it can make the servo to
act swiftly and the tracking trait of orientation instruction with smaller lagging error much
better; on the other hand, too large setting may result in shaking trend of motor and too
large setting may cause the motor to run unsteadily. If the setting is above 140, there is
predominantly accidented surface in the sphere machining. Also oscillation is liable to occur
in the stop orienting. If the orientation loop proportional gain is set too small, the action of
the system is slow and the machining precision is bad. Over-cutting occurs if the value is
below 10.
PA10 Orientation feedforward gain is set for 0%.
PA11 Cut-off frequency of orientation feedforward instruction filter range（1-1200）
While the orientation feedforward gain is required to increase without leading to the voice in
the process of acceleration and deceleration of motor, properly reduce the cut-off frequency
of orientation feedforward instruction filter. The larger the PA11 setting is and the higher the
cut-off frequency of orientation loop feedward instruction filter is, the more liable the noise is
to occur in the acceleration and deceleration of the motor. Also the orientation overshooting
is liable to occur.
① If position proportional gain setting value is set for a small one, the
system is stable, but the position tracking trait is getting bad and the
lag error is getting larger.
② Refer to [ position proportional gain ] setting values as following
table:
Rigidity Position proportional gain
Low rigidity 10～20/s
Middle rigidity 30～50/s
High rigidity 50～70/s
56
Chapter 7 Function for protection
Chapter 7 Funciton for protection
There are many protection functions such as overheat protection, overcurrent protection,
over-voltage protection for this DA98B AC servo device. While alarming occurs, the motor
stops. In the meantime, alarm code is being displayed on the LED display panel. Only is the
fault exterminated by operator according to the alarm code displayed, can the device be put
into use. The servo unit and motor can be touched only after they are powered off at least 5
minutes for avoiding electric shocking and burning. The servo on signal (SON) must be
confirmed invalid to avoid the unexpected starting of the motor before resetting alarm.
7.1 Alarm list
Alarm code Alarm name Content
-- Normal
1 Overspeed The servo motor speed exceeding its setting
2 Main circuit over-voltage Power voltage of main circuit too high.
3 Main circuit under-voltage Power voltage of main circuit too low.
Value of orientation deviation counter exceeding its

4 Orientation oversize
setting
5 The motor overheated Motor temperature too high.
6 Saturation fault of speed amplifier Long saturation of speed regulator
7 Abnormity of drive stop CCW, CW drive stop OFF
The orientation deviation counter Absolute value of orientation deviation counter

8 30
overflowing exceeding 2
9 Encoder fault Encoder signal error
The control power supply

10 Control power supply ±15V lower
down-voltage
11 IPM module fault IPM intelligent module fault
12 Over- current Motor current overlarge
The servo driver and motor overloaded (instantaneous

13 Overload
overheating).
14 Brake fault Brake circuit fault
15 Encoder counting fault Abnormity of encoder counting
16 Motor overheating Value of motor heating exceeding setting(I²t detection)
57
Data and detecting alarm of

20 EEPROM chip damaged
EEPROM
22 Zero-adjusting error of encoder Zero-adjusting fail of encoder
23 Current sampling fault Current sampling circuit fault
Encoder UVW signals code

32 Complete high or low level of UVW signals
invalid
7.2 Alarm troubleshootings

Alarm
Alarm name Running state Cause Remedy
code
Occurring in switching
① Control circuit board fault ① Change servo driver
Err-1 Overspeed on control power
② Encoder fault ② Change servo motor
supply
① The frequency of
① Set correctly the input
instruction pulse input is
instruction pulse.
overhigh.
① Acceleration/deceleration
time constant is too small to ①Increase acceleration/
cause the speed /deceleration time constant.
overshooting too large.
Occurring in motor ① The electronic gear ratio
① Set it correctly.
running input is too large.
① Encoder fault ① Change the servo motor.
① Encoder cable is inferior. ① Change the encoder cable.
① Set the related gain

again.
① Servo system is not stable
② If the gain can not be set
to cause the overshooting.
to a proper value, reduce
rotation inertia ratio of load.
① Reduce load inertia.

Occurring in the
① The load inertia is too large. ② Change driver and motor
starting of the motor
with larger power ones.
① Change servo motor.

① Encoder zero fault ② Re-adjust encoder zero
by manufacturer.
58
① The U, V, W lead wires of

the motor are not
connected correctly. ① Connect the wires
② Cable lead wires of correctly.
encoder are not connected
correctly.
on control power ① The circuit board fault ① Change servo driver.
supply
① Power supply voltage is
Occurring in switching too high.
① Check power supply.
on main power supply ② Wave form of power
supply voltage is abnormal.
①The brake resistance
① Connect it again.
connection breaks off.
Main circuit ① Brake transistor is
Err-2
over-voltage damaged.
① Change servo driver.
② Internal brake resistance
Occurring in motor is damaged.
running ① Reduce start-stop frequenc
② Increase acceleration/
deceleration time constant.
① The capacity of brake loop
③ Reduce torque limit.
is not enough.
④ Reduce load inertia.
⑤ Change the driver and
motor with larger ones.
① Circuit board is at fault.
② Fuse of power supply is
damaged. ① Change servo driver
③ Soft start circuit fault
④ Rectifier is damaged.
on main power supply
① Power supply voltage is
Main circuit low.

Err-3 ① Check power supply.
under-voltage ② Temporary power cut-off is
more than 20ms.
① Power capacity is not
enough.
① Check power supply.
Occurring in motor ② Instantaneous power
running down
①The Radiator is overheated. ① Check load.
Orientation Occurring in switching

Err-4 oversize. on control power ① Circuit board is at fault. ①Change the servo driver.
supply
59
① U, V, W lead wires of
motor are not connected
correctly.
① Connect them correctly.
② Lead wires of encoder
cable are not connected
correctly.
① Encoder fault ① Change the servo motor.
the motor doesn’t
① The orientation oversize
rotate after switching
detecting setting range is too ① Increase the setting range.
on the main power
small.
supply and the control
① The orientation proportional
wires and inputting ① Increase the gain.
gain is too small.
instruction pulse
① Check the torque limit
value.
② Reduce the load
① Torque is not enough.. capacity..
③ Change the driver and
motor with larger power
ones.
① Instruction pulse frequency

① Reduce the frequency.
is too high.
① Circuit board is at fault. ① Change the servo driver.

on control power ① Cable is broken.
① Check the cable.
supply ② Internal temperature relay
② Check the motor.
of motor is damaged.
① Reduce the load.
② Reduce the start-stop
Motor frequency.
Err-5
overheated ③ Reduce the torque limit
Occurring in motor
① Motor is overloaded. value.
running
④ Reduce the related gain.
ones.
① Motor interior is at fault. ① Change the servo motor.
Speed error The motor is chucked

Check the mechanical part.
too big or too mechanically.
long saturation Occurring in motor ① Reduce the load.
Err-6
time fault of running ② Change the driver and
The load is too big.
speed motor with larger power
amplifier ones.
60
Err-7 The input terminals of CCW, ① Check the connection and

Abnormity of
CW drive stop are both broken power supply of input
drive stop
off. terminals.
① Encoder connection is
① Check the connection.
wrong.
① Encoder is damaged. ① Change the motor.

Photoelectric
Err-9 encoder signal ① Encoder cable is inferior. ① Change the cable.
fault
① Encoder cable is so long ① Shorten the cable.
that the encoder voltage is ② Employ with multi-core
too low. parallel power-up.
① Control power supply ①Check the control power

voltage input is too low. supply.
① Internal connector
Control power ① Change the driver.
assembly of driver is
Err-10 supply ② Check the connector
inferior.
undervoltage assembly.
② Switch power supply is
③ Check the switch power
abnormal.
supply.
③ Chip is damaged.
Err-11 IPM module Occurring in switching ① Circuit board is at fault ① Change the servo driver.
fault on control power
supply
Occurring in motor ① Power-up voltage is low. ① Check the driver.
running ② Overheated. ② Power on again.
③ Change the driver.
① Driver U, V, W terminals are ① Check the connection.

short circuit.
① Earthing is not well done. ①Be grounded correctly.
① Motor insulation is ① Change the motor.

damaged.
① It is interfered with. ① Add the circuit filter.
② Be far away from the
interference source.
Err-12 Over-current Driver U, V, W terminals are Check the connection.
short circuit.
Earthing is not well done. Be grounded correctly.
Motor insulation is damaged. Change the motor.
Driver is damaged. Change the driver.
61
Err-13 Overload Occurring in switching ① Circuit board is at fault. ①Change the servo driver.
on control power
supply
① The motor runs exceeding ① Check the load.
Occurring in motor rated torque. ② Reduce the start-stop
running frequency.
③ Reduce the torque limit
value.
④ Change the driver and
motor with the larger power
ones.
① Hold brake is not on. ① Check the hold brake.
① Adjust the gain.

② Increase the acceleration/
① Motor vibrates unsteadily.
deceleration time.
③ Reduce the load inertia.
① One of U, V, W phases is
broken off.
① Check the connection.
② The connection of encoder
is mistaken.
Brake circuit
Err-14 on control power ① Circuit board is at fault. ① Change the servo driver.
fault
supply
Occurring in motor ①Brake resistance connection
① Connect the wire again.
running is broken off.
① Brake transistor is
damaged.
① Change the servo driver.
② Internal brake resistance is
③ damaged.
① Reduce the start-off

frequency.
② Increase the acceleration/
deceleration time constant.
① Brake loop capacity is not ③ Reduce the torque limit
enough. value.
④ Reduce the load inertia.
ones.
62
① Main circuit power supply ① Check the main power

voltage is too high. supply.
Encoder is damaged. Change the motor.

Encoder
Err-15 Encoder connection is wrong. Check the connection.
counting fault
Earthing is not well done. Be grounded correctly.
Circuit board is at fault. Change the servo driver.

on control power
supply
Parameter setting is wrong. Set the parameter correctly.
① Check the load.

Motor ② Check the start-stop
Err-16
overheating frequency.
Motor runs exceeding rated ③ Reduce the torque limit
Occurring in motor torque for a long time. value.
running ④ Change the driver and
motor with the larger power
ones.
Mechanical transmission is
Check the mechanical part.
not good.
① Change the servo driver.
Data and
② Driver model (parameter
detecting EEPROM chip ① Chip or circuit board is
Err-20 PA01) must be set again
alarm of damaged damaged.
after repairing, then
EEPROM
restore the defaults.
Chip or circuit board is Change the servo driver.
Zero-adjusting
damaged.
Err-22 error of
encoder Parameter setting is wrong. Set the parameter correctly.
① Chip or circuit board is

Current
Err-23 damaged. ① Change the servo driver.
sampling fault
Circuit sensor is damaged.
① UVW signals of encoder
are damaged.
② Cable is inferior.
Encoder UVW ③ Cable shielding is not ① Change the encoder
Err-32 signals code good. ② Check the interface
invalid ④ Shielding ground wire is circuit of encoder.
not well done.
⑤ Encoder interface circuit
is at fault.
63
Chapter 8 Isolated transformer
The isolated transformer should be employed to driver to reduce the liability of

electric shock or interference from power supply and electromagnetic field. The
servo motor of 0.8KW or less can be employed with single phase type, and the one
of more must be employed with three-phase type. The following isolated
transformer models provided by us have good quality, high cost-performance ratio,
and good-looking figure, and user can choose according to your servo motor power
and actual load.
Table 8.1 Isolated transformer specification
Input Output voltage

Type Capacity（KVA） Phase
voltage(V) (V)
BS--120 1.2
Three-
BS--200 2.0
phase
BS--300 3.0 380 220
BD--80 0.8
Single-phase
BD--120 1.2
Fig.8.1 Outline and installation dimension for BS-120 model
64
Fig.8.2 Outline and installation dimensions for BS-200 model
65
Fig.8.3 Outline and installation dimensions for BS-300 model
66
Fig.8.4 Outline and installation dimensions for BD-80 model
67
Fig.8.5 Outline and installation dimensions for BD-120 model
68
Chapter 9 Order guide
9.1 Capacity selection
Servo capacity is relative to the load inertia, the load torque, the orienting precision and
max. speed required which are taken into account by the following steps:
1） Calculation of inertia and torque of load, torque of acceleration and deceleration

① Calculation of torque
The load torque is caused by the friction and cutting force of the driver.
2πM = FL
M ── Torque of motor shaft
F ── Force required for moving the mechanical parts in linear direction
L ── Distance of moving mechanically for a revolution (2 π rad) of
motor
2πM is the work done by the motor torque M in a revolution, while FL is the
work done by force F moving an object for L distance.
Practically, due to the factors of transmission efficiency and friction coefficient,
the torque required by ball screw overcoming the external load force P for
uniform velocity movement is shown as following diagram:
，－ T o o th n u m b e r
B a ll s cre w S e rv o
W ith p re -fa s te n e d
m o to r
d o u b le n u ts
A n exam ple for servo feeding drive system
Calculate it by the following equation:
Fa 0 hsp P hsp Z1
M1＝（K ＋＋MB）
2π 2πη1 Z2
Ｍ1 —— Drive torque for uniform velocity movement
Fa 0 hsp
K —— Pre-fastened torque of double nuts ball screw（N•mm）
2π
Fa0 ——Pre-fastened force, it generally amounts to one third of the
69
max. axial working load, i.e. Fa0 ＝1/3Fmaz . If Fmaz is hard to get, Fa0 ＝
（0.1~0.12）Ca (N) is suggested for use.
Ca ——The rated load of ball screw that can be looked up in the
sample
hsp —— Ball screw lead（mm）
K ——Pre-fastened torque coefficient of ball screw, 0.1－0.2
P ——axial external load of ball screw（N）, P＝F＋µW
F ——Axial cutting force of ball screw（N）
W ——Load in normal direction（N），W＝W1＋P1
W1 ——Gravity of moving parts（N）, including max. loading gravity
P1 ——Clamping force of splinting (etc. headstock)
µ —— Slideway frictional coefficient, for slideway clung with ClC4
board, µ＝0.09; for lubrication, µ＝0.03－0.05; for linear rolling slideway, µ＝0.003－
0.004
η1 —— Efficiency of ball screw, 0.90－0.95
MB —— Frictional torque of supporting bearing, namely, start torque
（N•m）, which can be looked up in the sample of bearing
for ball screw
z1 —— Tooth number of gear 1
z2 —— Tooth number of gear 2
Select a servo motor which satisfies the following inequation:
M1 ≤ Ms
Ms is the rated torque of the servo motor.
② Calculation for inertia matched

The following inequation is generally recommended for use among motor
inertia JM, load inertia JL (converted to motor shaft), general inertia Jr:
1 JL JM JL
≤ ≤1 , 0.5 ≤ ≤ 0.8 or 0.2 ≤ ≤ 0.5
4 JM Jr Jr
The motor rotor inertia JM can be looked up in the sample manual. The
calculation for load inertia is as follows:
1. The inertia of rotary object Ball screw, coupling, gear, tooth form belt
etc. are all rotary objects.
πγ
J＝ D4L(kg*m2)
32 × g
70
γ —— Material density of rotational object(kg*m2)

D —— Diameter of rotational object（cm）
L —— Length of rotational object（cm）
g —— Gravity acceleration，g=980cm/s2
2. The inertia of linear movement object

W L 2
J＝（） (kg*m2)
g 2π
W —— Gravity of linear movement object（N）
L —— The object moving distance for one revolution of
motor; if the motor is directly connected to the lead
screw, L=lead screw lead hsp.
3. The inertia converted to the motor shaft in deceleration and the

deceleration of gears, gear-form belt drive
，－ Tooth number
z1 Motor
2
J＝J0（
z2 ）
Refer to the sketch map above, the load inertia JL converted to the motor
shaft is:
z1 2 W L 2
JL＝JG1＋（） [（JG2＋JS）＋（） ] (kg*m2)
z2 g 2π
JG1 ——Inertia of gear 1 (kg*m2)
JG2 ——Inertia of gear 2 (kg*m2)
JS —— Inertia of ball screw (kg*m2)。
③ Calculation of the max. torque in orienting acceleration

2πn m
M ＝（JM＋JL）+ML
60t a
nm —— Speed of fast moving motor（r /min）（r /min）
ta —— Acceleration or deceleration time（s）, taking 150-200ms by ta ≈3 /KS；
71
KS Open loop gain of the system，usually 8s-1- 25s-1; for MC KS ＝ 20s-1；

ML —— Load torque（N•m）.
If M is less than the max. torque Mmax of servo motor, the motor speed can be
increased or decreased by the time constant used.
2） Preliminary confirmation of mechanical gear ratio
Calculate the max. mechanical reduction ratio by the highest speed and
highest speed of motor required and collate it to the min. orientation unit with
the min. revolution unit and the reduction ratio. If the requirement of the
orientation precision is very high, increase the mechanical reduction ratio (the
actual highest speed is lowered) or choose a faster motor.
3） Check of inertia and torque
Convert the inertia and torque of load to the motor shaft by mechanical
reduction ratio, and the inertia converted should be less than quintuple of the
motor rotor inertia. And the load torque converted and the effective torque
should be less than the rated torque of motor. If the requirement above can’t be
met, increment of mechanical reduction ratio (the actual highest speed is
lowered) or a higher capacity motor may be employed.
9.2 Electronic gear ratio
Refer to chapter 4 (Section 4.2 Parameter function), chapter 6 (Section 6.2.5

Orientation control run) for the significance and adjustment of electronic gear ratio.
In the orientation control mode, the actual speed of load is:

Instruction pulse speed×G ×mechanical reduction ratio.
In the orientation control mode, the actual min. displacement of load is:
Min. instruction pulse stroke×G ×mechanical reduction ratio
If the electronic gear ratio G is not 1, there may be a remainder when

executing the division for gear ratio, which may lead to position deviation
and the max. deviation is the min. revolution amount of the motor (min.
resolution).
9.3 Stop characteristic
Lag pulse is defined to the difference between the instruction pulse and feedback
pulse when the servo motor is controlled by pulse strings in orientation control mode. The
difference is accumulated in the orientation deviation counter, and its relationship with the
instruction pulse frequency, the electronic gear ratio and the orientation proportional gain
72
is as follows:
f * ×G
ε=
Kp
ε：Lag pulse （Puls）；
f：Instruction pulse frequency（Hz）；
Kp：Orientation proportional gain（1/S）；
G：Electronic gear ratio.
The equation is obtained when [position feedback gain] is 0% and

the lag pulse will be less than the computation counted by the above
equation if [position feedback gain] is more than 0%.
9.4 Servo and orientation controllor computation
1. Instruction displacement and actual displacement:
I CR DR 1 ZD
S= ⋅ ⋅ ⋅ ⋅ ⋅L
δ CD DD ST ZM
S：Actual displacement mm；

I：Instruction displacement mm；
δ：Min. unit of CNC mm；
CR：Instruction dividing frequency numerator；
CD：Instruction dividing frequency denominator；
DR：Servo dividing frequency numerator；
DD：Servo dividing frequency denominator；
ST：Servo motor scale of per rev；
ZD：Side gear tooth numbers of motor；
ZM：Side gear tooth numbers of lead screw；
L：Lead screw pitch mm；
Generally S=I，the instruction value is equal to the actual one.
F CR
⋅ ≤ f max
60 × δ CD
2. Max. instruction speed of CNC：
F：Instruction speed mm/min；
fmax：Max. output frequency of CNC Hz.
73
DR
V max = nmax × ×L
DD
3. Max. speed of servo：

Vmax：Max. speed of worktable allowed by servo, mm/min；
nmax：Max. speed allowed by servo motor, r/min；
The practical max. speed of machine is limited by max. speed of CNC and servo.
⎡ ⎛ CR ⎞ DR ⎤ 1 ZD L
α = INT ⎢ INT ⎜ N ⋅ ⎟⋅ ⎥ ⋅ ⋅ ⋅
⎣ ⎝ CD ⎠ DD ⎦ min ST ZM δ
4. Min. movement of machine tool：
α：Min. movement of machine tool, mm；
N：Natural number；
INT（）：Integer rounding；
INT[ ]min：Min. integer.
74
Add: No.52, 1st . Street, Luochong North Road, Luochongwei, Guangzhou, 510165, China
Website: http://www.gsk.com.cn E-mail: gsk@gsk.com.cn
Tel: 86-20-81796410/81797922 Fax: 86-20-81993683
All specifications and designs are subject to change without notice Nov. 2006/Edition 1
Nov. 2006/Printing 1

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GSK DA98B AC Servo Drive Unit

Chinese version of all technical documents in Chinese and English languages is

! Danger: Indicate an immenently hazardous situation which, if not

! Caution: Indicate a potentially hazardous situation which, if not

Indicate a potential situation which, if not avoided, may

This symbol appears in the user Manaul whenever it is

■ The following symbols indicate some operations must not or must

Perform some operation (must perform some operation).

The cable is not permitted to be Moving, wiring and checking

When there is an alarm in the Don't touch the motor, control

Destructive result occurring

Chapter 1 Overview ...............................................................................................1

orientation signal feedbacks to servo

z Speed ratio, constant torque

z High speed, high precision

Parameters can be modified to set properly operating mode, running performance of

1.2 Check after delivery

1) Whether the packing is good and the goods is damaged.

z Do not install servo unit which is damaged or lacks of components.

Matched servo motor type

Output power (see table1-a)

Mark Rated output Mark Rated output Mark Rated output

（1） Standard accessories for DA98B servo unit:

Outline of servo unit

Fig. 1.1 Outline of servo unit

Fig. 1.2 Outline of servo motor

2.1 Installing servo unit

Item DA98B servo unit

Storage/delivery temperature -40～80℃

Atmospheric pressure 86kPa～106kPa

Fig 2.1 Bottom board installation pattern

Fig 2.2 Panel installation pattern

Fig. 2.3 Installation interval for a single servo unit

Fig. 2.4 Installation interval for servo units

2.2 Installing motor

 Be careful for the protection against rain and sunlight.

■ Do not hammer the motor or its shaft to

Chapter 3 System configuration and assembly

Table 3－1 Servo unit specification

Output power (kW) 0.4～0.8 1.0～1.5 1.7～2.6

Temperature Working：0～55℃ Storage：-20℃～80℃

Humidity Less than 90%（no dewing）

Vibration Less than 0.5G（4.9m/s2）,10～60 Hz(non-continuous running)

① Orientation control ②External speed control ③Internal speed

Energy brake Built-in

Speed fluctuation rate: ＜±0.03（load 0～100%）；＜±0.02（power supply -15～

+10%）（numerical value corresponding to rated speed）

Pulse frequency: ≤500kHz

①Servo on ②Alarm cancellation ③Disable in positive direction

① Servo ready output ② Servo alarm output ③ Orienting completing

① Pulse+ direction ②CCU pulse /CW pulse ③A/B

Electronic Ratio numerator:1～32767 Ratio denominator: 1～

Encoder 2500 pulse/rev (resolution:10000) incremental

3.2 Interior diagram block of servo unit

Fig. 3.1 Interior diagram block for DA98B servo unit

Fig.3.2 Typical wiring for the main circuit

Table 3－2 Wire sections for main circuit （Unit: mm2）

! Caution to main circuit wiring:

②U, V, W wires should connect with motor terminals correspondingly.

Be careful for the protection against rain and sunlight.

Switching volume input, , A lateral pole is connected to COM+ via 3kΩ

Switching volume output, , E lateral pole is connected to DG terminal, C pole

Switching volume output, , E lateral pole is connected to DG terminal, C

Pulse input interface, , A lateral pole is connected to positive input

Differential output, , internally connecting the output terminal of

Analog signal input, , interior is the difference-analog amplified circuit input.

Analog signal output, , internally connecting the output of operational