GSK DAT2030 User Manual

This user manual describes all items concerning the operation of
this CNC system in detail. However, it is impossible to give particular

descriptions for all unnecessary or unallowable operations due to length
limitation and products application conditions；Therefore, the items not
presented herein should be considered impractical or unallowable.
Copyright is reserved to GSK CNC Equipment Co., Ltd. It is illegal

for any organization or individual to publish or reprint this manual. GSK CNC
Equipment Co., Ltd. reserves the right to ascertain their legal liability.
DAT Series AC Servo Drive Unit User Manual
Preface
Your Excellency,
We are honored by your purchase of products from GSK CNC Equipment Co., Ltd.
This manual introduces property, installation, connection, debugging, operation and
maintenance of DAT Series AC Servo Driver in detail. To ensure safe and efficient work,
please read this manual carefully before installation and operation.
New products of DAT Series AC Servo Drive Unit include DAT2030, DAT2050,
DAT2075, DAT2100 and bus-type ones such as DAT2030C, DAT2050C, DAT2075C
and DAT2100C.
This manual applies to the software version: V1.05 of DAT2000 series and
V1.05 of DAT2000C series.
Please read the manual carefully before installation and using the product to
ensure it works safely, normally and efficiently.
To avoid operator and other personal injury and machine damage, please pay
special attention to the following warning label while you read the manual.
If the motor operates incorrectly, it will cause damage or death.

Danger
If the motor operates incorrectly, it will cause medium or slight

injury, even property loss.
Caution
If this label is not noticed, unexpected result and situation will

occur.
Note
Remind important requirements and instructions to user during the

operation.
It indicates prohibition (mustn’t do)
It indicates forced execution (must do)
II
Cautions
Danger
III
Note
The drive unit may startup when the power is
recovered, the user don’t operate the shaft Don’t prevent heat diffusion or put object
device of the servo motor. on radiator fan or radiator.
If the user does not obey the If the user does not obey the
instruction, it will cause instruction, it will cause
personal injury. damage or a fire.
When removing the cover on the terminal

Don’t put the cable on sharp edge. Don’t
board, the user don’t operate drive device
make the cable bear heavy load or tension.
during power is on.
If the user does not obey the If the user does not obey the
instruction, it will cause instruction, it will cause
electric shock, trouble or electric shock.
damage.
Caution
IV
Cautions
Caution
V
Safety responsibility
Manufacturer Responsibility
——Be responsible for the danger which should be eliminated and/or controlled on
design and configuration of the provided servo unit and accessories.
——Be responsible for the safety of the provided servo unit and accessories.
——Be responsible for the provided information and advice for the users.
User Responsibility
——Be trained with the safety operation of servo unit and familiar with the safety
operation procedures.
——Be responsible for the dangers caused by adding, changing or altering to the
original servo unit and the accessories.
——Be responsible for the failure to observe the provisions for operation, adjustment,
maintenance, installation and storage in the manual.
This manual is kept by final user.
We are full of heartfelt gratitude to you for supporting us in the use of GSK’s
products.
VI
Contents
contents
CHAPTER 1 PRODUCT INTRODUCTION .........................................................................................1
1.1 Basic Knowledge .................................................................................................................1

1.2 Confirmation of the Arrived Goods.......................................................................................6
1.2.1 Instruction of Servo Motor Model ...............................................................................6
1.2.2 Instruction of Servo Motor Models Unit......................................................................7
1.2.3 Appearance of servo unit ...........................................................................................8
1.3 Technical Specifications ..................................................................................................10
1.3.1 Servo motor technical specifications........................................................................10
1.3.2 Technical Specification of Servo Unit ......................................................................13
1.4 Order instruction ..............................................................................................................15
1.4.1 Order model example ..............................................................................................15
1.4.2 Standard Products Accessories...............................................................................17
CHAPTER 2 INSTALLATION ........................................................................................................19
2.1 Servo Motor .......................................................................................................................19

2.1.1 Mounting Dimension of the Servo Motor..................................................................19
2.1.2 Servo Motor Installation ...........................................................................................21
2.2 Servo Unit ..........................................................................................................................22
2.2.1 Installation Dimension..............................................................................................23
2.2.2 Mounting Interval .....................................................................................................24
Chapter 3 CONNECTION .................................................................................................................25
3.1 Connection of Peripherals..................................................................................................26

3.2 Terminal Connection of Main Circuit ...................................................................................30
3.2.1 Terminal Connection of Servo Unit ..........................................................................30
3.2.2 Instructions for Servo Motor Interface......................................................................32
3.3 Connection of Control Signal .............................................................................................33
3.3.1 Definition of Pin CN1 of DAT Series Products .........................................................33
3.3.2 Input of Speed Command ........................................................................................35
3.3.3 Input of Position Command......................................................................................36
3.3.4 Switching Value Input ..............................................................................................39
3.3.5 Output of Switch Value ............................................................................................41
3.4 Connection of Feedback Signal .........................................................................................44
3.4.1 Introductions for CN2 of DAT2000...........................................................................44
3.4.2 Introductions for CN2 OF DAT2000C ......................................................................45
3.4.3 Connection to Encoder Signal of the Motor .............................................................46
3.5 GSKLink Communication Function ....................................................................................48
3.6 Examples for Different Working Mode ...............................................................................50
3.6.1 Speed Mode Wiring of DAT2000 Series Products ...................................................50
3.6.2 Position Mode Connection of DAT2000 Series Products.........................................51
3.6.3 Speed Mode Connection of DAT2000C Series Products ........................................52
3.6.4 Position Mode Connection of DAT2000C Series Products ......................................53
CHAPTER 4 DISPLAY AND OPERATION.......................................................................................54
VII
4.1 Operation Panel.................................................................................................................54
4.2 Display Menu .....................................................................................................................54
4.3 State Monitoring.................................................................................................................55
4.4 Parameter Setting..............................................................................................................59
4.5 Parameter Management ....................................................................................................60
CHAPTER 5 DEBUGGING AND OPERATION .............................................................................62
5.1 Manual and Jog operation .................................................................................................63

5.1.1 Manual Operation ....................................................................................................64
5.1.2 Jog Operation ..........................................................................................................65
5.2 Speed mode operation ......................................................................................................66
5.2.1 External analog voltage command ..........................................................................66
5.2.2 Internal digital command..........................................................................................69
5.3 Position Mode Operation ...................................................................................................71
Chapter 6 FUNCTION DEBUGGING.............................................................................................73
6.1 Fundamental performance parameter debugging illustration.............................................73

6.2 Application of brake releasing signal .................................................................................75
6.3 The switchover of motor rotating direction .........................................................................79
6.4 Output of position feedback signal.....................................................................................80
6.5 Function Debugging of Position Mode ...............................................................................82
6.5.1 Position Command E-gear Ratio .............................................................................82
6.5.2 Position arrival signal （COIN）.............................................................................83
6.5.3 Pulse deviation zero clearing（CLE）.....................................................................84
6.5.4 Pulse command inhibition （INH）.........................................................................84
6.6 Function debugging under speed mode ............................................................................84
6.6.1 Adjustment of analog command ..............................................................................84
6.6.2 Speed arrival signal（COIN） .................................................................................85
6.6.3 Zero speed clamping（ZSL） .................................................................................86
CHAPTER 7 PARAMETERS .........................................................................................................87
7.1 Parameter List ......................................................................................................................87

7.2 Parameter Description..........................................................................................................89
CHAPTER 8 ABNORMALITIES AND REMEDIES ........................................................................98
8.1 Abnormalities Caused by Misuse .........................................................................................98

8.2 Alarms and Remedies ........................................................................................................100
8.3 Inspection and Maintenance ..............................................................................................105
APPENDIX A MODEL CODE PARAMETERS AND FEED SERVO MOTOR TABLE.................106
APPENDIX B PERIPHERAL EQUIPMENTS ...............................................................................108
B. 1 External Braking Resistor (Optional).................................................................................108

B. 2 Circuit Breaker and Contactor (Necessary) ......................................................................109
B.3 Three-Phase AC Filter (Recommended)............................................................................110
B.4 Isolation Transformer (Necessary).....................................................................................110
APPENDIX C VERSION UPGRADE INSTRUCTION .....................................................................114
VIII
Chapter 1 Product Introduction
CHAPTER 1 PRODUCT INTRODUCTION
1.1 Basic Knowledge
¾ Basic principle of AC servo drive device

The AC servo drive unit consists of AC servo unit and AC servo motor (three-phase
permanent magnet synchronous servo motor, hereafter referred to as the servo motor).
Approximate sine wave current with 120° phase difference (namely: DC—AC) are generated in
three-phase stator winding of the servo motor through controlling on/off of the power switch tube
after three-phase alternating current is rectified to direct current by the servo unit (namely:
AC—DC). Rotary magnetic field is formed by the sine wave current and the rotor of the servo
motor is made of rare earth permanent materials that with fine anti-degaussing property,
therefore, the interaction between the field of motor rotor and rotary field generates
electromagnetic torque to rotate the rotor. The higher the current frequency flowing through the
motor winding is, the faster speed will be. The bigger the current amplitude flowing through the
motor winding is, the bigger the output torque (Torque=force × arm length of the force) will be.
The diagram of main return current, see Fig. 1-1, PG in the figure represents encoder.
Fig.1-1 Main return current diagram of the AC servo drive unit
¾ Basic configuration of AC servo drive device

The servo unit receives the speed (or position) command from a control unit（PC）like
computerized numerical control system (CNC) to control the frequency and magnitude of the
motor winding current, and make the speed (or rotor angle) of motor rotor approach to the speed
(or position) command value. The deviation between the actual value of motor rotor speed (or
rotor angle) and the command value is obtained through the feedback signal from the encoder.
In addition, the servo unit constantly adjusts frequency and magnitude of the motor winding
current to make the deviation between the actual value of motor speed (or rotor anger) and the
command value within a required range. The basic configuration of the servo system is shown in
Fig 1-2.
1
setting
CNC ＋ Control Driving

Power drive unit Motor
equipment unit machine
－
Feedback
check
Spindle servo drive equipment
Fig.1-2 Basic configuration of AC servo drive device
¾ General concept of control

¾ Control: The process of making the property (eg. Speed) of the object (eg. Servo motor) get
or close to the predicted value is called control. The forementioned object is called controlled
object. Controlled quantity (Variable): The property of the controlled object. Control unit
(controller): The device to achieve control. Setting: The predicted value (command value) of the
controlled quantity that is received by the control unit. Feedback: The controlled quantity is taken
as input of the controller to affect itself. Feedback device: The device to detect the controlled
quantity. According to the vary direction of controlled quantity and setting to the controller output,
the feedback is divided into positive feedback (the same direction) and negative feedback
(opposite direction). Control system consists of the controller used to achieve the controlled
quantity control, the controlled object and the feedback device. The drive device is divided into
closed-loop control and open-loop control according to the presence and absence of feedback
device, and the position of feedback unit .The closed loop introduced in this manual are all
closed loop of negative feedback.
In the AC servo drive unit introduced by this manual, servo unit is a controller, the servo
motor is controlled object, the motor speed (or rotor angle) is a controlled quantity, the encoder of
the servo motor is a feedback device. The actual speed is detected by the encoder and it is used
to speed control to achieve speed feedback. Therefore, the AC servo drive unit belongs to closed
loop control system.
z Open loop control: There is no feedback device in the control system, and the actual value
of the controlled quantity does not affect the controller output. Example: Drive unit of step motor.
After output current phase sequence of servo unit of step motor is changed, the rotation of rotor
of the step motor should vary with it. Because the step motor are not usually installed speed or
position feedback device, the rotation of motor rotor may not vary accurately with the changing of
the current phase sequence, which causes so-called “step out”.
Open loop control is shown in Fig. 1-3.
Fig. 1-3 Open loop control
2
z Closed loop control: The controlled quantity of the control system is detected by feedback
device and is output to the controller. This process affects the output of the controller and then
changes the controlled quantity. According to the detection point of the feedback device, the
closed loop control id divided into entirely closed loop control and semi closed loop control.
Entirely closed loop control (Fig. 1-4): The controlled quantity is detected directly by the feedback
device and it is used for feedback. Mechanical position is used as controlled quantity, grating
ruler fixed on the machine as position feedback device, and the encoder of the servo motor is
taken as a speed feedback device, realizing the entirely closed loop control of machine position.
If the grating ruler is not fixed, the encoder of the servo motor is used as speed feedback device
(Fig. 1-5), therefore, this is a semi-closed loop control of a mechanical position.
Fig. 1-4 Full-closed loop control
Fig. 1-5 semi-closed loop control
z PID Control: also called PID adjustment, is a common algorithm the controller adopted to
mathematically deal with input data (setting, feedback). P stands for proportional, which means
the input of the controller is to be linearly proportional to the output, the larger the adjustment
coefficient is, the more sensitive the system will react and smaller the error is (can not completely
eliminated), however, over larger adjustment coefficient will result in system oscillation and
instability. I stands for integral, means time integral of system input affects the output (input
gradually affects output), the larger the integration time constant is, the more stable the system
will be, which can eliminate steady-state error but slows system response at the same time. D
stands for differential, which means input differential (slope of input change) affects output,
differential control may predict deviation and produce advanced correction action to decrease
tracking error and improve dynamic performance; while over large differential coefficient will also
result in system oscillation and instability. Along with the adjustment of PID control coefficient at
specific control system, the proportional, integral and differential adjustment are mutually
affected to make a balance between system reaction speed, control accuracy and stability. As
differential adjustment is prone to produce impact and oscillation, the servo system introduced in
this manual adopts PI adjustment, that is, proportional and differential adjustment.
3
¾ Concepts of servo control
There are three basic control models in servo system: location control, speed control and
torque control. The system chart is shown in Fig. 1-6.
z Position control: set the direction and angle of motor rotation through digital pulse or data
communication, the motor rotor controlled by servo unit will rotate to the corresponding angle in
accordance with the preset direction. The rotary angle (position) and speed are both controllable.
z Speed control: set the direction and angle of motor rotation through analog voltage or data
communication, the motor rotor controlled by servo unit will rotate in accordance with the set
direction and speed.
z Torque control: set the value and direction of the motor output torque through analog
voltage or data communication, the servo unit controls the motor rotor’s rotation direction and the
value of output torque.
The servo device introduced in this manual does not receive signals set by torque at present
and the torque control operational mode is not available for the time being.
Position Speed Current

controller controller controller
＋ Position ＋ Speed ＋ Current Power
Motor
adjustment adjustment adjustment amplification
Command －
－ Position －
position Speed feedback Current feedback
feedback signal signal signal PG
Fig. 1-6 Three-loop control diagram
¾ Servo performance index

Servo dynamic reaction characteristics: refers to the reaction speed, dynamic control error
and stable control error of the servo system with set signal or load change. Fig. 1-7 indicates
reaction characteristics of the servo system set with step signals (solid line represents the setting
signal and dashed line represents the output signal of the servo system).
Fig. 1-7 Servo dynamic reaction curve
4
Rise time tr: the length of time of the speed quantity rise for the first time from zero to 90% of a stable
value R (t), which shows the rapidity of dynamic reaction.
Adjustment time ts： The minimum time needed to make the reaction curve reach but not exceed
error interval which is used to measure the whole adjustment tempo of the device. The allowed
interval refers to plus or minus 5% of the stable value proximal to the step reaction curve stable
value R (t).
Overshoot σ：The ratio between the maximum D-value that the rotation output quantity overpasses
the stable value（Rmax(t)- R (t)）and the stable value R (t), which reflects the relative stability of
the servo device and expressed as percentages, i.e.:
Rmax (t ) − R(t )
σ (%) = × 100%
R(t )
Steady-state error: the difference between the expected output steady-state value and the practical
output value after the system rotation speed turned into stable.
Servo static performance: Stability is the most important issue of the servo control system. Servo
static performance index, mainly the position accuracy, refers to deviation degree between the
practical state and expected state when the system transient process comes to cease. Not only
errors from the position measurement device and from the system will affect servo steady-state
accuracy, but the internal structure and parameters of the system can also matter. Fig.1-8 shows
the position servo static curve.
Fig. 1-8 Position servo static curves
Tracking error: The difference between the movable position of the workbench requested by the
command signals (commanding position) and the practical movable position, i.e., tracking error
equals to the value of commanding position minus the value of practical position.
Servo rigidity: servo system’s capability to resist the position deviation resulted from load
interference.
5
1.2 Confirmation of the Arrived Goods
Please promptly inspect the received goods in accordance with the following items, any question,
please feel free to contact suppliers or our company.
Inspected Items Notes
Check and confirm if the servo units Please check by the nameplates on the servo units
and servo motors are the ordered. and servo motors
Please check accessories according to packing list,

Accessories complete or not
any unmatched ones, refer to order instruction 1.4.
Check the general appearance of goods to ensure

Damaged or not in transport
products intact and with no damage.
Please check if there is any screw loose with

Screw loose or not
screwdrivers.
1. Damaged AC servo unit or the ones without integrated parts can not be installed.
2. AC servo unit should be matched with servo motor with proper property.
1.2.1 Instruction of Servo Motor Model
Rated speed
Rated voltage and rated current
Servo motor model Rated torque
交流伺服电动机
U N:220V IN :10A S N
N: 2500r/min max: 3000 r/min
INS.CLASS: B IP65 M: 17 bit
S/N: 081016100D0000107H
Grade of protection
Product No.
Encoder lines
Class of Insulation Max speed
Fig. 1-9 Instruction of servo motor models:
6
130 SJT － M Z 150 D（A□ Y□ X□ ）
Machine model Non:Aviation sockettype

X:Cable direct type
AC synchonic servo motor
Shaft or installation config.#3
M:Photoelectric encoder Non:Standard shaft
Y□:Special ballpoint shaft
Non:Non-electricity-breaking brake
Z□:Special cone shaft
Z:With-electricity-breaking brake S□:Stepping motor installation config.
Zero-speed torque 2 Encoder type

150: 15N·m A or None: Increment type 2500 p/r
A2：Increment type 5000 p/r
A：1000 r / min A3:Increment split-type 5000 p/r
Rated B：1500 r / min A4:Absolute type 17bit
rotation C：2000 r / min A41:Danaher multi-circle 17bit absolute type
speed D：2500 r / min A4S1:Danaher single-17bit absolute type
E：3000 r / min
#1：Working power of electricity-breaking brake: DC（0.9～1.1）×24V, interface: triax socket, 1,2

pin are power terminals (have no polarity), 3 pin is the earth terminal. When the 1 and 2 pin plug
in power, the electricity-breaking brake doesn’t work, while when the power is disconnected, it
will brake and the operating time is less or equal to 0.1s.
#2：A three-digital number “150” is used to show its value: 150×10-1=15, unit: N.m.
#3：‘□’ is a numeric codes, please refer to the installation outline drawing of the motor for the
special shaft represented by a certain number.
1.2.2 Instruction of Servo Motor Models Unit
Nameplate examples:
Motor model corresponded to factory parameter of the drive unit
Drive unit order model
Digital AC servo drive unit

Model : DAT2075C Version: V1.05 Software version
of Drive unit
Adapted motor:130SJT-M150D（A4 ）
Power:3-phase 220V
Production date
SN:E03DN00088 Date:2009/3 of drive unit
Tel.020-81986247 Fax.81993683
Production No. of drive unit

Power of drive unit
7
DAT 2 050 C － 130 SJT － M 150 D（ A □ Y □X □）
Matching AC servo motor model (omit if no matching)
Communications Mode:
C: GSKLink serial communications
None: No serial communications function
IPM module nominal current 030：30A；

050：50A；
Input power grade:2：AC220V 075：75A；
100：100A。
Product model code
1.2.3 Appearance of servo unit
z Appearance of DAT2030 and DAT2050
8
z Appearance of DAT2030C and DAT2050C
LED Monitoring window:

composed of 6 LED nixie tubes and able to R、S、T：Drive unit power input terminal
carry out monitoring under all operating models Voltage range: 3-Phase AC 220V
and make parameters revision and management.
Please lead power through protector
! device such as circuit breaker.
Parameter sequence, parameter
value increase
Parameter sequence, parameter
Input power ground, motor protector
value decrease
ground earth terminal
Back to the previous menu, or cancel
operation
The parameter value increase 100 for P、B1、B：Dynamic braking resistor inserting
＋ every pushing of the combination button end: when attach external braking resistor,
switch the resistor on P. B end, no B1 end;
The parameter value decrease 100 for attach internal braking resistor, short-circuit
＋ every pushing of the combination button B1、B end, no P end. Refer to Appendix B1 for
braking resistor selection.
Step to the next menu, or cancel operation Short-circuit of P、B ends are
not allowed.
CN1: Control signal interface: U、V、W：Inserting end of motor power

Insert external speed command, position command
and input, output signals Serial connecting capacitive device
between drive unit and motor for
CN2: Encoder feedback input interface filtering processing is not allowed.
Increment-type encoder differential signal, motor
position feedback input
Indicator light:” CHANGE” high voltage
CN4, CN5, GSKLlink Commnuincations Interface indicator light ON: DC bus with high voltage
Connect with GSKLlink serial bus through which OFF: DC bus discharged off
the CNC system can achieve servo module and
real-time monitoring. When Indicator light ON, No dismantle
or install drive unit, power lines, motor
line and braking resistor lines.
z Appearance of DAT2075 and DAT2100
9
z Appearance of DAT2075C,DAT2100C
1.3 Technical Specifications
1.3.1 Servo motor technical specifications
Table 1-1 Principle Technical Parameters of 80SJT Series Motor
Model 80SJT-M024C 80SJT-M024E 80SJT-M032C 80SJT-M032E

Project (A□) (A□) (A□) (A□)
Rated Voltage（kW） 0.5 0.75 0.66 1.0
Pole-pairs 4
Rated Current（A） 3 4.8 5 6.2
Zero-speed Torque（N·m） 2.4 2.4 3.2 3.2
Rated Torque（N·m） 2.4 2.4 3.2 3.2
Maximum Torque （N·m） 7.2 7.2 9.6 9.6
Rate Rotary speed（r/min） 2000 3000 2000 3000
Maximum Rotary speed（r/min） 2500 4000 2500 4000
2 -4 -4 -4
Moment of Inertia（kg·m ） 0.83×10 0.83×10 1.23×10 1.23×10-4
Weight（kg） 2.8 2.9 3.4 3.5
Insulation Grade F（GB 755—2008）
Oscillation Grade R（GB 10068—2008）
Protection Grade IP65（GB 4208—2008/IEC 60529：2001，GB/T 4942.1—2006）
Installation Type IMB5（Flange installation）（GB/T 997—2008 / IEC 60034-7:2001）
character of service S1（Continuous duty）（GB 755—2008）
electricity-breaking brake Not available
Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit
Adaptive Encoder
single-circuit or multi-coil。
10
Table 1-2 Principle Parameters of 110SJT Series, 130SJT Series Motor
Model
110SJT-M 110SJT-M 110SJT-M 110SJT-M 130SJT-M 130SJT-M
Project
040D(A□) 040E(A□) 060D(A□) 060E(A□) 040D(A□) 050D(A□)
Rated Voltage（kW） 1.0 1.2 1.5 1.8 1.0 1.3

Pole-Pairs 4
Rated Current （A） 4.5 5 7 8 4 5
Zero-speed Torque 5
4 4 6 6 4
（N·m）
Rated Torque （N·m） 4 4 6 6 4 5
12.5
Maximum Torque (N·m） 12 10 12 12 10
Rated Rotary speed

2500 3000 2500 3000 2500 2500
（r/min）
Maximum Rotary speed
3000 3300 3000 3300 3000 3000
（r/min）
Moment of Inertia
0.68×10-3 0.68×10-3 0.95×10-3 0.95×10-3 1.1×10-3 1.1×10-3
（kg·m2）
Weight（kg） 6.1 6.1 7.9 7.9 6.5 6.5
Weight of motor with
electricity-breaking 7.7 7.7 9.5 9.5 8.1 8.1
brake（kg）
Insulation Grade B（GB 755-2008）
Oscillation Grade R（GB 10068-2008）
Protection Grade IP65（GB/T4942.1-2006）
Installation Type IMB5（Flange Installation）（GB/T 997-2008 / IEC 60034-7:2001）
Character of Service S1（Continuous Duty）（GB 755-2008）
Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit single-circuit
Adaptive Encoder
or multi-coil。
Table 1-2 Principle Parameters of 110SJT Series, 130SJT Series Motor（continue）
Model 130SJT-M 130SJT-M 130SJT-M 130SJT-M 130SJT-M 130SJT-M

Project 060D(A□) 075D(A□) 100B(A□) 100D(A□) 150B(A□) 150D(A□)
Rated Voltage（kW） 1.5 1.88 1.5 2.5 2.3 3.9
Pole-Pairs 4
Rated Current （A） 6 7.5 6 10 8.5 14.5
Zero-speed Torque
6 7.5 10 10 15 15
（N·m）
Rated Torque （N·m） 6 7.5 10 10 15 15
Maximum Torque (N·m） 18 20 25 25 30 30
11
Rated Rotary speed
2500 2500 1500 2500 1500 2500
（r/min）
3000 3000 2000 3000 2000 3000
（r/min）
Moment of Inertia（kg·m2） 1.33×10-3 1.85×10-3 2.42×10-3 2.42×10-3 3.1×10-3 3.6×10-3
Weight（kg） 7.2 8.1 9.6 9.7 11.9 12.7

electricity-breaking brake 10.1 11 12.5 12.6 14.8 15.6
（kg）
Insulation Grade B（GB 755-2008）
Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit single-circuit or
Adaptive Encoder
multi-coil
Table 1-3 Principle Parameters of 175SJT Series Motor
Model 175SJT-M 175SJT-M 175SJT-M 175SJT-M 175SJT-M 175SJT-M

Project 180B(A□) 180D(A□) 220B(A□) 220D(A□) 300B(A□) 300D(A□)
Rated Voltage（kW） 2.8 3.8 3.5 4.5 3.8 6
Pole-Pairs 3
Rated Current （A） 15 16.5 17.5 19 19 27.5
Zero-speed Torque （N·m） 18 18 22 22 30 30
Rated Torque （N·m） 18 14.5 22 17.6 24 24
Maximum Torque (N·m） 36 29 44 35.2 48 48
Rated Rotary speed（r/min） 1500 2500 1500 2500 1500 2500
2000 3000 2000 3000 2000 3000
（r/min）
Moment of Inertia（kg·m2） 6.5×10-3 6.5×10-3 9.0×10-3 9.0×10-3 11.2×10-3 11.2×10-3
Weight（kg） 22.8 22.9 28.9 29.2 34.3 34.4
electricity-breaking brake 28.4 28.5 34.5 36.8 42 42.1
（kg）
Insulation Grade F（GB 755-2008）
Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit
Adaptive Encoder
single-circuit or multi-coil。
12
Mechanical Properties of Servo Motor
1.3.2 Technical Specification of Servo Unit
DAT2030 DAT2050 DAT2075 DAT2100

Servo unit model
DAT2030C DAT2050C DAT2075C DAT2100C
Rated current of
adaptive servo current <6 6～10.5 11～21 22～28
（A）
Dimension（mm）
263×115×197 300×105×240
（width*height*depth）
Main power 3-phase AC（0.85～1.1）×220 V， 50Hz/60Hz
speed regulation ratio 5000：1
DAT2000 adaptive to 5000p/r increment encoder, ＜0.03%；
Speed fluctuation ratio
DAT2000C adaptive to 17bit absolute encoder，＜0.01%；
Speed frequency
≥300Hz
response
DAT2000 adaptive to 2500p/rspeed regulation ratio， Position error：
±0.036°
Position accuracy DAT2000 adaptive to 5000p/rspeed regulation ratio， Position error：
±0.018°
DAT2000C adaptive to 17bit absolute encoder，Position error：±0.005°
As manual operation, jog, internal speed, external speed, position, zero
Work mode
setting etc.
Servo motor operates at the 4-stage speed set in accordance with
Internal speed pattern
parameters and selected by input signals.
External speed pattern Servo motor operated at the speed corresponding to VCMD input
Position pattern （-10V～+10V or 0V～+10V） analog voltage）.
13
Rotary angle of servo motor is controlled according to the pulse quantity
of position command and the rotary speed determined by the pulse
frequency of position command.
Position command mode: pulse plus direction, CCW pulse/CW pulse,
A/B two phase orthogonal pulse
Maximum pulse frequency: 1MHz
Command pulse frequency multiplication ratio and frequency
demultiplication: 1～32767
1
Position command electric gear ratio ～50
50
With DAT2000 standard adaptive increment type encoder as the
position feedback input, A/B/Z/U/V/W differential signal ， encoder
resolution ratio: 2500 pixels or 5000 pixels.
Position feedback input
With DAT2000C standard adaptive absolute encoder as the position
feedback input, i.e. 17bit absolute encoder, 12bit circles of power-down
memory。
Carry out frequency division processing to the pulse data from
electromotor encoder (PG or pulse generator) in drive unit and output
position feedback
them to upper computer through CN1 in accordance with the preset
output
pulse number so as to realize function such as the positional
closed-loop control of upper computer.
Communications bus GSKLink Bus（V1.0）
10 input points as servo enabling, alarming elimination, CCW
prohibition, CW prohibition, Zero-speed clamping, internal speed
Input signal
option1,internal speed option 2,CCW torque limitation, CW torque
limitation, general input etc.
7 output points as S-RDY, servo alarming, position arrival/speed arrival,
Output signal band-type brake release, zero-speed output, Z pulse(encoder zero
point), general output, etc.
With protection functions as overvoltage, undervoltage, overcurrent,
Protection function overload, overspeed, position deviation, drive abnormality, encoder
abnormality, etc.
4 buttons, manual operation, jog as well as parameter revision, setting,
writing-in and back-up are available.
Operation and display 6 LEDs which display information as rotary speed, current position,
pulse accumulation, position deviation, motor torque, motor current,
absolute rotor position, input & output signal states.
Dynamic braking, built-in braking resistor (DAT2100 or DAT2100C
braking mode
excluded) and can attach external braking resistor.
CCW indicates the main drive shaft of motor installation plane rotates counterclockwise
when you see it from the shaft extension direction (CCW-Counter Clockwise).
CW indicates the main drive shaft of motor installation plane rotates clockwise when you
see it from the shaft extension direction (CW- Clockwise).
14
1.4 Order instruction
1.4.1 Order model example
Order model examples of adaptive SJT series servo motor are listed on the following chart:
Principle motor parameters

Order model Rated Rated Zero-speed Rated
Encoder
Voltage Current Torque speed
2500p/r
DAT2030-05-80SJT-M024C 0.5kW 3A 2.4 N·m 2000r/min
Incremental type
2500p/r
DAT2030-08-80SJT-M024E 0.75kW 4.8 A 2.4 N·m 3000r/min
Incremental type
2500p/r
DAT2030-07-80SJT-M032C 0.66kW 5A 3.2 N·m 2000r/min
Incremental type
2500p/r
DAT2050-10-80SJT-M032E 1.0kW 6.2 A 3.2 N·m 3000r/min
Incremental type
DAT2030-10-110SJT-M040D(A2) 5000p/r
1.0kW 4.5A 4N·m 2500r/min
DAT2030-10-110SJT-MZ040D(A2) Incremental type
DAT2050-15-110SJT-M060D(A2) 5000p/r
1.5kW 7A 6N·m 2500r/min
DAT2030-10-130SJT-M040D(A2) 5000p/r
1.0kW 4A 4N·m 2500r/min
DAT2030-13-130SJT-M050D(A2) 5000p/r
1.3kW 5A 5N·m 2500r/min
5000p/r
DAT2050-15-130SJT-M060D（A2） 1.5kW 6A 6 N·m 2500r/min
Incremental type
5000p/r
DAT2050-19B-130SJT-M075D（A2） 1.9kW 7.5 A 7.5 N·m 2500r/min
Incremental type
5000p/r
DAT2050-15-130SJT-M100B（A2） 1.5kW 6A 10 N·m 2500r/min
Incremental type
5000p/r
DAT2050-25B-130SJT-M100D（A2） 2.5kW 10 A 10 N·m 2500r/min
Incremental type
5000p/r
DAT2050-23B-130SJT-M150B（A2） 2.3kW 8.5 A 15 N·m 1500r/min
Incremental type
5000p/r
DAT2075-39E-130SJT-M150D（A2） 3.9kW 14.5 A 15 N·m 2500r/min
Incremental type
5000p/r
DAT2075-28E-175SJT-M180B（A2） 2.8kW 15 A 18 N·m 1500r/min
Incremental type
5000p/r
DAT2075-38E-175SJT-M180D（A2） 3.8kW 16.5 A 18 N·m 2500r/min
Incremental type
5000p/r
DAT2075-35-175SJT-M220B（A2） 3.5kW 17.5 A 22 N·m 1500r/min
Incremental type
5000p/r
DAT2075-45-175SJT-M220D（A2） 4.5kW 19 A 22 N·m 2500r/min
Incremental type
15
Principle motor parameters
Order model Rated Rated Zero-speed Rated
Encoder
Voltage Current Torque speed
5000p/r
DAT2075-38-175SJT-M300B（A2） 3.8kW 19 A 30 N·m 1500r/min
Incremental type
5000p/r
DAT2100-60-175SJT-M300D（A2） 6.0kW 27.5 A 30 N·m 2500r/min
Incremental type
DAT2030C-10-110SJT-M040D(A4I) 17bit multi-coil
1.0kW 4.5A 4N·m 2500r/min
DAT2030C-10-110SJT-MZ040D(A4I) absolute type
DAT2050C-15-110SJT-M060D(A4I) 17bit multi-coil
1.5kW 7A 6N·m 2500r/min
DAT2030C-10-130SJT-M040D(A4I) 17bit Multi-coil
1.0kW 4A 4N·m 2500r/min
DAT2030C-13-130SJT-M050D(A4I) 17bit Multi-coil
1.3kW 5A 5N·m 2500r/min
17bit Multi-coil
DAT2050C-15-130SJT-M060D(A4I) 1.5kW 6A 6 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2050C-19B-130SJT-M075D(A4I) 1.9kW 7.5 A 7.5 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2050C-15-130SJT-M100B(A4I) 1.5kW 6A 10 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2050C-25B-130SJT-M100D(A4I) 2.5kW 10 A 10 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2050C-23B-130SJT-M150B(A4I) 2.3kW 8.5 A 15 N·m 1500r/min
absolute type
17bit Multi-coil
DAT2075C-39E-130SJT-M150D(A4I) 3.9kW 14.5 A 15 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2075C-28E-175SJT-M180B(A4I) 2.8kW 15 A 18 N·m 1500r/min
absolute type
17bitMulti-coil
DAT2075C-38E-175SJT-M180D(A4I) 3.8kW 16.5 A 18 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2075C-35-175SJT-M220B(A4I) 3.5kW 17.5 A 22 N·m 1500r/min
absolute type
17bit Multi-coil
DAT2075C-45-175SJT-M220D(A4I) 4.5kW 19 A 22 N·m 2500r/min
absolute type
17bit Multi-coil
DAT2075C-38-175SJT-M300B(A4I) 3.8kW 19 A 30 N·m 1500r/min
absolute type
17bit Multi-coil
DAT2100C-60-175SJT-M300D(A4I) 6.0kW 27.5 A 30 N·m 2500r/min
absolute type
16
1.4.2 Standard Products Accessories
Following list shows the standard products accessories which are allocated on the basis that
no special requirement asked by users. If users need other accessories not included in the list,
please contact salesperson or consult our technicians for further information.
DAT2000 series servo unit standard accessories list(allocated per each servo unit)
Order
Accessories Name Quantity Description Note
Type
44DB cellular type plug and 1set CN1 connection plug
plastic box
motor encoder wire 1strip standard length 3M
servo unit
motor wire 1strip standard length 3M welded cable wire
and servo
“Instruction Manual of DAT 1 PCS Accompanying are available
motor kit
Series AC Servo Drive Unit” technical document
RXLG-1500W-10ΩJ braking 1 PCS Only DAT2100 adaptive
resistor to this accessory
25DB pin-type plug and plastic 1 set CN2 connection plug CN1-CNC
Servo unit
box signals.
and CNC
“Instruction Manual of DAT 1PC Accompanying connection wires
Kit(without
Series AC Servo Drive Unit technical document are available
servo
RXLG-1500W-10ΩJ braking 1PC Only DAT2100 adaptive along with CNC
motor)
resistor to this accessory products
motor wire 1 strip standard length 3M CN1-CNC signals
Servo unit,
“Instruction Manual of DAT 1PC Accompanying connection wires
servo
Series AC Servo Drive Unit technical document are available
motor and
RXLG-1500W-10ΩJ braking 1PC Only DAT2100C along with CNC
CNC Kit
resistor adaptive to this products
accessory
Note: Please mark on the order if you need other length of wire except for the standard 3M.
17
DAT2000C Series Servo Unit Standard Accessories List(allocated per each servo unit)
Order
Accessory Name Quantity Description Note
Type
26P high density plug and 1set CN2 connection plug
CN1-CNC,
Servo unit plastic box
GSKLinK signals
and CNC “Instruction Manual of DAT 1 pc Accompanied
connection wire and
Kit(without Series AC Servo Drive Unit technical document
terminal socket are
servo RXLG-1500W-10ΩJ braking 1 pc Only DAT2100C
available along with
motor) resistor adaptive to this
CNC products
accessory
CN1-CNC,
motor wire 1 strip standard length 3M
servo unit, GSKLinK signals
“Instruction Manual of DAT 1 pc Accompanied
servo connection wire and
Series AC Servo Drive Unit technical document
motor and terminal socket are
RXLG-1500W-10ΩJ braking 1 pc Only DAT2100C
CNC Kit available along with
resistor adaptive to this
CNC products
accessory
DAT Series Selective Accessories
Accessory Name Description Note

Braking resistor Power:300W,resistivity: 30Ω； DAT2030 Refer to
RXLG-300W-30ΩJ or DAT2030C external selective Appendix B1
Braking resistor Power 500W,resistivity: 22Ω；DAT2050 “Outlay Braking
RXLG-500W-22ΩJ or DAT2050C external selective Resistor” for
detailed the
Braking resistor Power 1000W,resistivity:15Ω； DAT2075
installation
RXLG-1000W-15ΩJ or DAT2075C external selective dimension.
4*1.5mm2 BVVB 4-core wire, wire diameter:1.5mm2； DAT2030
or DAT2030C for motor wire
4-core wire, wire diameter:2.5mm2； DAT2050
4*2.5mm2 BVVB
or DAT2050C for motor wire
4-core wire, wire diameter:4.0mm2；
4*4.0mm2 BVVB DAT2075,DAT2075C,DAT2100,DAT2100C for
motor wire
10-core twinning
matching motor encoder wire
shielding wire
18
Chapter 2 Installation
CHAPTER 2 INSTALLATION
2.1 Servo Motor
2.1.1 Mounting Dimension of the Servo Motor
¾ For external dimensions and installation of 80SJT series motor, see figure 2-1, table 2-1.
Industrial (aviation)
Socket mount
Cable type
Fig. 2-1
Table 2-1
Type D(mm) N(mm) LB(mm) L(mm)

80SJT—M024C (A□) φ190-0.013 φ700-0.03 171 206
80SJT—M024E(A□) φ190-0.013 φ700-0.03 171 206
80SJT—M032C(A□) φ190-0.013 φ700-0.03 189 224
80SJT—M032E(A□) φ190-0.013 φ700-0.03 189 224
19
¾ For external dimensions of 110SJT series motor, see figure 2-2, table 2-2.
Fig. 2-2
Table 2-2
110SJT—M040D(A□) φ190-0.013 φ950-0.035 186 (237) 241 (292)
110SJT—M040E(A□) φ190-0.013 φ950-0.035 186 (237) 241 (292)
110SJT—M060D(A□) φ190-0.013 φ950-0.035 212 (263) 267 (318)
110SJT—M060E(A□) φ190-0.013 φ950-0.035 212 (263) 267 (318)
Note: LB, L values in the brackets are the length of corresponding motor that with safe brake.
Fig. 2-3
Table 2-3
130SJT—M040D(A□) φ220-0.013 φ1100-0.035 168 (227) 225 (284)
130SJT—M050D(A□) φ220-0.013 φ1100-0.035 168 (227) 225 (284)
130SJT—M060D(A□) φ220-0.013 φ1100-0.035 176 (235) 233 (292)
130SJT—M075D(A□) φ220-0.013 φ1100-0.035 188 (247) 245 (304)
130SJT—M100B(A□) φ220-0.013 φ1100-0.035 208 (267) 265 (324)
130SJT—M100D(A□) φ220-0.013 φ1100-0.035 208 (267) 265 (324)
130SJT—M150B(A□) φ220-0.013 φ1100-0.035 238 (297) 295 (354)
130SJT—M150D(A□) φ220-0.013 φ1100-0.035 248 (307) 305 (364)
20
Fig. 2-4
Table 2-4
175SJT—M150D(A□) φ350+0.01 φ114.30-0.025 224 (291) 303 (370)
175SJT—M180B(A□) φ350+0.01 φ114.30-0.025 244 (311) 323 (390)
175SJT—M180D(A□) φ350+0.01 φ114.30-0.025 244 (311) 323 (390)
175SJT—M220B(A□) φ350+0.01 φ114.30-0.025 279 (346) 358 (425)
175SJT—M220D(A□) φ350+0.01 φ114.30-0.025 279 (346) 358 (425)
175SJT—M300B(A□) φ350+0.01 φ114.30-0.025 309 (382) 388 (461)
175SJT—M300D(A□) φ350+0.01 φ114.30-0.025 309 (382) 388 (461)
175SJT—M380B(A□) φ350+0.01 φ114.30-0.025 359 (432) 438 (561)
2.1.2 Servo Motor Installation
Servo motor installation, storage and transportation environment

Item Parameter and requirement
Operation temperature 0℃～40℃
Storage and transportation
-40℃～70℃
temperature
Operation humidity 30%～95%（no dewing）
Storage and transportation humidity ≤95%（40℃）
There is no corrosive or flammable gas, oil
Atmosphere environment
mist or dust etc. in the control cabinet
Altitude Altitude of below 1000m
21
Attentions
1. When install the belt pulley, do not strike
the motor or the motor axis to avoid damage
to internal encoder. Spiral insert and pull
out tools should be used for dismounting.
2. The servo motor can not bear axial and
radial load. Spring coupling is recommended
to connect the load.
3. Stop washer should be used to fix the motor
to avoid motor loosening.
4. The motor mounting position should be protected
against water and oil. The cable will bring water and
oil to the motor if it immerses in water and oil.
Therefore, this situation should be prevented from happening.
2.2 Servo Unit
The installation environment of the servo motor has direct effect on its functions and service life.
Please install it correctly under the instructions below.
Item Parameter and requirement
Operation temperature 0℃～40℃
Storage and transportation temperature -40℃～70℃
Operation humidity 30%～95%（no dewing）

Storage and transportation humidity ≤95%（40℃）
There is no corrosive or flammable gas, oil
Atmosphere environment
mist or dust etc. in the control cabinet
Altitude Altitude of below 1000m
Vibration ≤0.6G(5.9m/s2)
Atmosphere pressure 86kPa～106kPa
22
2.2.1 Installation Dimension
Fig. 2-5 DAT2030,DAT2030C,DAT2050,DAT2050C installation dimension (unit：mm)
Fig. 2-6 DAT2075,DAT2075C,DAT2100,DAT2100C installation dimension (unit：mm)
23
2.2.2 Mounting Interval

DAT series servo unit adopts base-plate installation mode, install direction is perpendicular
to the mounting surface. Put the front side of the servo unit forward, and top side upward to
dissipate heat. Please leave space around it.
Fig. 2-7 DAT servo unit mounting interval
Fig. 2-8 shows intervals between servo units, more space should leave in actual installation to
ensure well heat elimination.
Fig. 2-8 Mounting intervals between DAT servo units
To prevent environment temperature continuously from being increased, ensure

convection current flows to radiator of the servo unit in the electric cabinet.
24
Chapter 3 Connection
Chapter 3 CONNECTION
Please read the following notes carefully and follow it to get safe and smooth operations.
Attentions
Wiring can only be done by professional technical persons according to
corresponding instructions.
Do wiring and maintenance operation at least 5 minutes after the servo unit is
power off. Ensure the voltage that each main circuit terminal to ground is safe
voltage, or you will be electrocuted.
Please confirm that servo unit and servo motor are earthed correctly.
When you wiring, do not damage the cable by a sharp object, do not pull the
cable lustily, otherwise, it will cause electric shock or poor contact.
Do not cross the main return circuit and signal wire through the same pipe, and
do not tie them together. When wiring, the user separates or crosses the main
return circuit and signal wire, and leaves an interval of 30cm to prevent
interference (from high current wire to signal wire) that makes the servo unit
unable to work properly.
Do not switch on or off the servo unit frequently, because high capacitance in it
will generate high charging current when power on. Power on or off frequently
will decrease the performance of internal components of the servo unit.
Recommended power on or off interval is above 3 minutes.
Power capacity, surge absorber, radio noise filter and other devices should not
be installed at output side of the servo unit or between servo motors.
Keep the main return circuit wire and signal line away from heat abstractor and
motor to avoid insulation property decreasing by heat.
After connection of the main return circuit wire, the terminal protective cap is
covered to avoid electric shock.
25
3.1 Connection of Peripherals
Servo unit must be equipped with some peripherals. Proper peripheral ensures the servo
unit works stably. Otherwise, service life will be shortened and even the servo unit will be
damaged.
Fig. 3-2 Connection of peripheral DAT2030, DAT2050
26
For circuit breaker, isolation transformer, AC wave filter, AC contactor selection, please refer to
appendix B.
Fig. 3-3 Connection of peripheral DAT2030C, DAT2050C

appendix B．
27
L1 L2 L3
3-phase AC 380V power
CNC system Braking resistor (optional)
Not connect to external braking resistor,

B, B1 are connected；
RESET
Connect to external braking resistor,
转换位置程序系统设置
B, B1 are not connected
退格信息图形帮助
删除取消
上档输入
AC380V
AC220V
PE
U
V
W
R
S
T
Protective earth wire
Control circuit
Fig. 3-4 Connection of peripheral DAT2075, DAT2100
appendix B.
28
L1 L2 L3
3-phase AC 380V power
Circuit breaker
(necessary)
CNC system
Braking resistor (optional)
Not connect to external braking resistor,

RESET
B, B1 are connected；
转换位置程序系统设置
Connect to external braking resistor,
退格信息图形帮助 B, B1 are not connected
删除取消
上档输入
AC380V
Transformer
(necessary
AC220V
Wave filter
(Optional)
PE
U
V
W
R
S
T
AC contactor
(necessary)
Protective earth wire
See section 3.5 for connection of GSKLink
Control circuit
Fig. 3-5 Connection of peripheral DAT2075C, DAT2100C
appendix B.
29
3.2 Terminal Connection of Main Circuit
3.2.1 Terminal Connection of Servo Unit
DAT series AC servo

drive unit
Encoder feedback signal
Fig. 3-6 Main circuit connection of DAT series products
The following circuit diagram is recommended for connection of KM1 control circuit in Fig. 3-5:
30
Section selection of main circuit wiring:
R S T PE U V W P B1 B
Current of Connection
Protective
the adapted Input terminal of terminal of
ground Power output end
motor AC current external, internal
end
brake resistor
≤6A 1.5 mm2 ≥1.5 mm2 1.5 mm2 1.5mm2
6A～10.5A 2.5 mm2 ≥2.5 mm2 2.5 mm2 2.5 mm2
11A～21A 4 mm2 ≥ 4 mm2 4 mm2 4 mm2
22A～28A 4 mm2 ≥ 4 mm2 4 mm2 4 mm2
For DAT2030 or DAT2030C, DAT2050 or DAT2050C terminal, its

insulation covering is stripped off and the exposed copper wire is
twisted according to the following figure. Press wiring (press terminal
with special tools) with H2.5/18D type tubular terminal (Weidmuller
Company). Insert terminal as the figure, and tighten up terminal screw.
10m m ～ 12m m
For DAT2075 or DAT2075C, DAT2100 or DAT2100C terminal and DAT

series PE terminal connections, insulation covering is stripped off and exposed
copper wire is twisted according to the following figure. Press wiring (press
terminal with special tools) with HRV 2―5S type round pre-insulation terminal.
(Huxi Electric Apparatus co., Ltd), and tighten it up to the ground screw at the
front of the shell.
6m m ～ 8m m
31
3.2.2 Instructions for Servo Motor Interface
¾ Corresponding relationship between pins of motor power socket and output terminal of the
servo unit
Pin No. of the motor power socket 1 2 3 4
Terminal tab the servo unit PE U V W
¾ Pins connection of safe brake socket
z Pin1, Pin 2 is connected to DC24V, and their positive and negative poles are not distinguished,
pin 3 is earthed.
z For controlling of controlled contact KA, refer to section 6.2 :application of release signal of
band-type brake.
For motor with different power is adapted to the safe brake with different power. When selecting
24V switch power supply, please refer to the following technical parameters of arrester brakes
adapted to different motors.
Seat No. of Rated Supply Coil power of the brake at Release time
the motor torque voltage 20℃ (unit: W) （s）
110 4 24V DC 20 0.037
130 8 24V DC 25 0.042
175 32 24V DC 40 0.135
¾ For connection of pins of encoder signal socket, please refer to section 3.4.3.
32
3.3 Connection of Control Signal
3.3.1 Definition of Pin CN1 of DAT Series Products

¾ The control signal interface CN1 of DAT2000 series products is Pin 44 male, the connector
for making control wire is Pin 44 female (the type is G3150-44FBNS1X1, provided by
WIESON Company). See the following figure for the definition of the pins.
Figure 3-13 Pin CN1 of DAT2000
In the above figure, pins with the same name are connected and shorted in the inner
circuit board.
33
¾ Control signal interface CN1 of DAT2000C series products is high-density socket with 50
cores (type: MDR50-10250-55H3JL, provided by 3M company), which pin layout is as
follows:
Fig. 3-14 Pin CN1
Pin Reference Pin Reference

Name Meaning Name Meaning
No. item No. item
1 PBO－ Position 26 PZO－ Position
feedback feedback
output 6.4 output 6.4
2 PBO＋ 27 PZO＋
signal A signal Z
pase pase
3 PAO－ Position 28 GND digital ground
feedback
output 6.4
4 PAO＋ 29 NC
signal B
pase
5 PULS－ Position 30 SIGN－ Input direction
command pulse 3.3.3 of position 3.3.3
6 PULS＋ 31 SIGN＋
input command
Speed
selection 5.2.2 CW torque
7 SC2/INH 32 RIL 3.3.4
2/pulse 6.5.4 limit
prohibited
Speed
5.2.2 CCW torque
8 SC1/CLE selection 1/ 33 FIL 3.3.4
6.5.3 limit
pulse clearing
Zero-speed
9 NC 34 ZSL 6.6.3
clamped
CW drive
10 RSTP 3.3.4 35 GIN reserve
prohibited
CCW drive
11 FSTP 3.3.4 36 NC
prohibited
12 ALRS Alarm clearing 3.3.4 37 NC
13 SON Enabling 3.3.4 38 COM－
Input power
14 NC 39 COM＋
of control
Speed arrival
6.6.2 signal (15～
15 COIN＋＋/ position 41 COM＋
6.5.2 24VDC)
arrival＋
34
Speed arrival
Servo be 6.6.2
16 SRDY－ 40 COIN－＋/ position
ready to 3.3.5 6.5.2
arrival＋
output
17 SRDY＋ 42 HOLD－ Release
signal of safe 6.2
18 NC 43 HOLD＋
brake output
19 NC 44 NC
20 ZSP－ Motor 45 NC
zero-speed 3.3.5 Zero-point
21 ZSP＋ 46 CZ－
output signal of
3.3.5
encode
22 ALM－ 47 CZ＋
Alarm output 3.3.5 output
23 ALM＋ 48 0VA
24 VCMD＋ Simulated 49 NC
command 3.3.2
25 VCMD－ 50 NC
input
3.3.2 Input of Speed Command
VCMD+/ VCMD- are input terminals of speed command input, which receives max. 10V DC
voltage signal, and its terminal input resistance is 20KΩ.
Note: The signal cable uses a shielded line, and the differential signal must use a twisted-pair line.
35
3.3.3 Input of Position Command
Position commands PULS+/PULS-，SIGN+/SIGN- can use differential drive method or use

single-end drive method. See example as follows:
z Differential drive method
z Single-end drive method
Fig. 3-18 Wiring of NPN type single-end drive

4.7 K
4.7 K
Fig. 3-19 Wiring of PNP type single-end drive
36
1. Differential drive method is recommended to use in order to avoid high interference；

In differential drive mode, AM26LS31, MC3487 or similar RS422 drive chip are
recommended.
2. Single-end drive method will decrease action frequency. Under the condition that the
pulse input to circuit, drive current is 10 mA～15mA, external max. power voltage is
limited to 25V, resistance R value is defined. Experiential data: VCC=24V，R=1.3kΩ～
2kΩ；VCC=12V，R=510Ω～820Ω；VCC=5V，R=0Ω
There are three kinds of position command input modes, which are set by parameter PA14, can
be received. See the table bellow, and arrow represents the counting edge.
37
a. Input interface sequence diagram of pulse + symbol (max. pulse frequency 1MHz)
th tck
90%
PULS
10%
ts tl ts
trh trl
90%
SIGN
10%
CW trh CCW
trl CW
b. Input interface sequence diagram of CCW pulse/CW pulse (max. pulse frequency 1MHz)
c. Input interface sequence diagram of 2-phase command pulse (max. pulse frequency 1MHz)
Sequence parameters of pulse input are listed bellow.
Parameter tck th tl trh trl ts tqck tqh tql tqrh tqrl tqs
Differential
drive input >1 >0.3 >0.3 <0.2 <0.2 >2 >1 >0.3 >0.3 <0.2 <0.2 >0.2
(μs)
Single-end
drive input >5 >2.5 >2.5 <0.3 <0.3 >2.5 >10 >5 >5 <0.3 <0.3 >2.5
(μs)
38
3.3.4 Switching Value Input
Two examples of wiring are provided bellow, Inx represents input point: (SON, ALRS, FSTP,
RSTP, SC1/CLE, SC2/INH, ZSL, FIL, RIL, GIN).
Example of external
switch value
Example of external
photocoupler
DC15V～24V power (above 1A) should be provided for servo unit. It is suggested the same
power with output circuit should be used.
Input coupler is on when Inx connects to 0V, and the signal is ON, input is active. Monitor window
can be used for judgment, when the input point is ON, corresponding LED lights up. When
the input point is OFF, corresponding LED is not work. This monitor window is used for debugging
and examining the control signal of the servo unit.
Detailed instructions for input signals:
¾ COM＋, COM－ are input ports of external specified power (15V～24V).
39
¾ Servo enable is operated when SON is ON. Check the monitor window and
is displayed.
Related Default Applicable
Meaning Unit
parameters value modes
When there is no external SON signal
input, motor enable is enforced in the
servo unit.
PA54=0：When external input signal
PA54 0 P，S
SON is ON, the motor is enabled.
PA54=1：Motor enable is enforced in the
servo unit, and the external SON signal
is not needed.
The motor is turned on when the servo unit works normally. If the servo unit has troubles,
the alarm code occurs. Please refer to chapter 8 troubles and troubleshooting.
¾ When ALRS is ON, alarms that smaller than No. 9 alarm are cleared by ALRS signal
after trouble clearing. Alarms that bigger than No. 9 alarm can only be cleared after trouble
clearing and power on again. When SON is ON, the function of alarm clearing is invalid.
¾ FSTP, RSTP: Drive prohibition signal is usually matched with stroke switch to avoid
over travel.
Input signal Operation
FSTP RSTP CCW CW
ON ON O O
ON OFF O Prohibited
OFF ON Prohibited O
OFF OFF Prohibited Prohibited
Note: O represents normal. When drive prohibition function is not used, PA20 is set to 1 to shield drive
prohibition function.
40
¾ FIL: CCW torque limit. When FIL is ON, the maximum torque of the motor is limited by
the setting of PA36.
¾ RIL: CW torque limit. When RIL is ON, the maximum torque of the motor is limited by the
setting of PA37.
3.3.5 Output of Switch Value
1. In DAT2000 series product, except signal HOLD, CZ, other output signals are
single-end transistor output. Emitter of the coupler has been connected to COM-.
2. Switching value output of DAT2000C series product is double-end transistor output:
OUTx represents output points (ALM, SRDY, ZSP, COIN, HOLD, CZ)
z Wiring diagram of single-end transistor output

Example 1: Servo unit matches with system GSK980TDb
External controller
Example 2: Servo unit matches with system 983M

Output of external
relay
41
z Wiring diagram of double-end transistor output
External controller
External relay output
When OUTx is connected to COM－ or OUTx＋ is connected to OUTx, input point is ON.
Monitor window can be used for judgment, when input point is ON, corresponding
LED lights up. When input point is OFF, corresponding LED does not light.
¾ ALM of the servo unit is output when abnormity is detected. Output state is relevant to PA47.
PA47=0 ALM signal output coupler is OFF when alarm occurs
PA47=1 ALM signal output coupler is ON when alarm occurs
42
Power OFF ON
ALM (PA47=1) OFF No alarm alarm

< 0.5s
ALM (PA47=0) OFF No alarm alarm
¾ SRDY represents servo unit is ready. SRDY signal output photo coupler is connected when
the motor power-on is excited.
¾ ZSP represents zero-speed output, i.e. when the speed of the motor is zero, photo coupler
of ZSP signal output is ON.
¾ CZ represents zero point signal of encode: For incremental encoder, sequence is in

accordance with Z signal (one-rotation signal) feedback from motor encoder, as shown
below:
For absolute type encoder, AB-phase pulse number per circle is set by servo parameter, zero
point signal CZ is output at the same time.
¾ HOLD：Release signal of safe brake of the motor with a band-type brake. Refer to 6.2 for
output logic of this signal.
1. When output signal is open collector type, its maximum load current is 100mA, maximum
voltage of external DC current is 25V. If it exceeds the specific requirement or output end directly
connect to the power, servo unit will be damaged.
2. If the load is inductive load, freewheeling diode should be paralleled with two ends of the
load. If the freewheeling diode is connected reversely, the servo unit will be damaged.
43
3.4 Connection of Feedback Signal
3.4.1 Introductions for CN2 of DAT2000
The encoder interface CN2 of the motor of the DAT2000 servo unit is Pin 25 female. The
connector for making control wire is Pin 25 male (the type is G3150-44FBNS1X1, provided by
WIESON Company). See the following figure for the definition of the pins.
Fig. 3-42 CN2 DB 25 female socket
Pin
Name Meaning Pin No. Name Meaning
No.
1 0V 14 FG
Frame ground
2 0V 15 FG
Encoder power（－）
3 0V 16 0V Encoder power（－）
4 0V 17 5V
Encoder power（＋）
5 5V 18 5V
Encoder power（＋） Feedback of incremental
6 5V 19 W＋
type encoder W＋
Feedback of
Feedback of incremental
7 W－ incremental type 20 V＋
type encoder V＋
encoder W－
Feedback of
8 V－ incremental type 21 U＋
type encoder U＋
encoder V－
Feedback of
9 U－ incremental type 22 Z＋
type encoder Z＋
encoder U－
Feedback of
10 Z－ incremental type 23 B＋
type encoder B＋
encoder Z－
Feedback of
11 B－ incremental type 24 A＋
type encoder A＋
encoder B－
Feedback of
12 A－ incremental type 25 NC
encoder A－
Input terminal of motor

13 OH
temperature sensor
44
This interface is only applicable for feedback signal of incremental encoder. The signal wire uses
differential drive connection. The wiring diagram is shown below:
OH1（CN2-13）is used for connecting overheating detector in the servo motor, which makes the
servo unit have overheating protective function. Internal wiring diagram is shown below:
After connection, set PA 57 of the servo motor according to properties of overheating detector. If
the servo motor has no overheating detector, PA57 is set to 0 and the shielding alarm occurs, OH1,
0V can not be connected.
Related Parameter Default Application

Name Unit
parameter scope value mode
Alarm shielding for motor overheating 0～2 0 P，S
PA57=0：shielding alarm
PA57=1：logic alarm when the check switch is the normally-closed in the
PA57
appropriate motor’s temperature
PA57=2：logic alarm when the check switch is the normally-open in the
appropriate motor’s temperature
3.4.2 Introductions for CN2 OF DAT2000C
Feedback signal interface CN2 of the encoder of the DAT2000C series products are high-density
socket with 26 cores (type: MDR26-10226-55H3JL, provided by 3M company), which pin layout is
shown below:
Fig. 3-45 Pin CN2
45
Pin No. Name Meaning Pin No. Name Meaning

Input terminal of the motor
1 OH1 14 NC
temperature sensor
2 W＋ 15 NC
3 W－ 16 0V
Encoder power（－）
4 V＋ 17 0V
5 V－ 18 NC
6 U＋ 19 5V
7 U－ Connect incremental 20 5V Encoder power（＋）
8 Z＋ encoder feedback signal 21 5V
9 Z－ 22 NC
10 B＋ 23 MA＋
11 B－ 24 MA－ Feedback signal of
12 A＋ 25 SL＋ absolute encoder
13 A－ 26 SL－
1～13 pins combine CN2 interface of DAT2000 series products, which applies to feedback
signal of incremental encoder. Other pins apply to feedback signal of absolute encoder. OH1
（CN2-1）is used for connecting overheating detector in the servo motor, its connection is the
same that of DAT2000 series products.
3.4.3 Connection to Encoder Signal of the Motor
The following diagram is a standard wiring of incremental encoder motor matched DAT2000
series products. When users use motors of other company or make encoder cable by
themselves, refer to the standard wiring bellow. (If the motor is with a thermostat, connect the
thermostat to OH1, 0V ports)
46
OH1
null
motor
Servo motor Intermediate cable Drive unit
Fig. 3-46 Encoder wiring of SJT servo motor
The following diagram is a standard wiring of absolute encoder motor matched DAT2000C
series products. When users use motors of other company or make encoder cable by
themselves, refer to the standard wiring bellow. (If the motor with a thermostat, connect the
thermostat to OH1, 0V ports)
Fig. 3-47 Wiring of absolute encoder
Encoder signal socket of SJT series servo motor are all Pin15 male aviation socket, please
select Pin 15 female aviation plug to make signal cable. Exterior of aviation plug of the encoder
signal cable is as follows:
47
1. The length of power cable and feedback signal cable of the motor shall be within 20m, the
distance between two cables shall be more than 30cm. Two cables can not be crossed through the
same pipe or tied them together.
2. Signal cable uses stranded shielding cable, cross-section is 0.15mm2～0.20mm2, connect

shielding layer to PE terminal.
3.5 GSKLink Communication Function
DAT2000C series servo unit has GSKLink serial communication function. Connect CN4 or CN5
interfaces to GSKLink to realize real-time communication of the CNC. The servo unit can manage
parameters through GSKLink (including parameter storage, parameter alteration, and parameter
backup) or monitor the position, speed, current, humidity and I/O state information.
¾ Connection between CNC and servo unit is as follows:
There is a spare commnunication interface on the servo unit that is for GSKLink link.
Serial terminal is to connect a resistor matched with 120Ω/0.25W between CANL of the
interface and CHNH signal terminal.
48
¾ Circuit diagram of bus interface CN4, CN5 of GSKLink is as follows:
¾ Communication diagram between GSK988T CNC system and servo unit
¾ Communication connection between servo units
¾ Set related parameters after connecting the communication cable correctly:

Name Unit
Servo unit slave No. 0～5 1 P，S
PA58 Note: Set number to servo unit that connected to GSKLINK communication bus, and
the number cannot be repeated.
Selection of GSKLINK
0～4 0 P，S
communication baudrate
PA59=0：Shield GSKLINK communication function；
PA59 PA59=1：Set baudrate to 500k；
PA59=2：Set baudrate to 600k；
PA59=3：Set baudrate to 800k；
PA59=4：Set baudrate to 1M。
49
3.6 Examples for Different Working Mode
3.6.1 Speed Mode Wiring of DAT2000 Series Products
Fig. 3-54 DAT2000 speed mode wiring
Signals with mark * in the figure are necessary connection signal.

#1：Minimum power of external given switch power (DC 15V~24V) should not less than 35W.
#2：When speed command is 0V～10V, and PA4=1，PA46=1, SC1, SC2 are taken as CCW, CW
rotation start signal. It is a necessary connection signal at this moment. When PA4=2, it is taken as
an internal speed selection signal.
#3：DG is an output common port. Please connect it to power earth wire of output signal.
#4：OH is not connected to the servo motor without temperature control sensor. Set PA57=0 to
shield motor overheating alarm.
50
#5：The metal shell of CN1, CN2 interfaces are connected to PE of servo unit, which can be
taken as bonding point of shield line.
3.6.2 Position Mode Connection of DAT2000 Series Products

～
Single or three phase AC KM1 Servo motor
220V
R 2
U
S 3
V M
T
W 4
Power earth wire PE 1

PE
AC servo drive unit
r
Motor
CN 2
#3
t 13 OH1
16 OH 2
#1
CN 1 5 5V
External given DC15V ～ 24V
* COM + 38 6 5V
4 .1 k
* COM + 39 17 5V
SON * SON 23 18 5V
Alarm clear ALRS 8 1 0V
CCW drive prohibition 24
FSTP 2 0V
CW drive prohibition 9
RSTP 3 0V Vcc 2
CCW torque limitation FIL 25 4 0V GND 3
CW torque limitation RIL 10 24 A+ A+ 4
Pulse deviation clearing CLE 40 12 A-
A- 7
Pulse command prohibition INH 41 23 B+ 5
B+
GIN 1 11 11 B- B- 8
22 Z+ Z+ 6
#2
DG 32 10 Z- Z- 9
DG 33 21 U+ U+ 10
Ready SRDY 20 9 U- U- 13
Zero-speed output ZSP 19 11
20 V+ V+
Speed arrival COIN 35 8 14
V- V-
Alarm output ALM 5 19 W+ W+ 12
7 W- W- 15
14 FG FG 1
15 FG
CN 1
HOLD + 7 PE
Band-type brake
#4
signal output HOLD - 6
CZ + 37
Position feedback
output Z pulse CZ - 36
CN1
PE
27 PAO +
A
12 PAO -
CN 1
270 28 PBO +
PULS ＋ 30 B
PULS － 15 13 PBO -
Pulse command input 270
SIGN ＋ 29 42 PZO +
Z
SIGN － 14 43 PZO -
Fig. 3-55 Position mode connection of DAT2000
Signals with mark * in the figure are necessary connection signals.

#2：DG is output common port. Please connect it to power earth wire of output signal.
#3：OH is not connected to the servo motor that without temperature control sensor. Set PA57=0
to shield motor overheating alarm.
#4：The metal shells of CN1, CN2 interfaces are connected to PE of servo unit, which can be
51
3.6.3 Speed Mode Connection of DAT2000C Series Products
3 #
Servo motor
Single or three phase AC B

P B1
220V
R 2
U
S MS
V 3
3～
T
W 4
PE 1
Power earth wire PE
AC servo drive unit
#4
# 1 CN1
External given DC15V ～24V 1 OH
* COM + 41 16
4 .1 k 0V
* COM + 39
SON
* SON 13
Alarm clear
ALRS 12
Zero-speed clamping
ZSL 34
CCW drive prohibition CN2
FSTP 11
CW drive prohibition
RSTP 10
CCW torque limitation FIL 33
CW torque limitation RIL 32
CCW torque starting/speed

selection 1 * SC 1 8
# 2
CW torque starting/speed PE
selection 2 * SC 2 7 #5
CN1
COM- 38
CN4 CNC
ALM+ 23
Alarm output
ALM- 22
SRDY+ 17
Servo ready
SRDY- 16
COIN+ 15
Speed arrival DAT series
COIN- 40 drive unit
CN5
ZSP+ 21
Zero-speed output
ZSP- 20
Band-type brake releasing HOLD + 43

PE
signal output HOLD - 42
CZ + 47
Motor zero point signal
CZ - 46
PE
CN1
* VCMD+ 24
DC
* VCMD- 25
Analog command inPut
-10V~+10V or 0V~+10V OVA
Fig.3-56 Speed mode connection of DAT2000C

#2：When speed command is 0V～10V, and PA4=1，PA46=1, SC1, SC2 are taken as CCW, CW
rotation start signal. It is a necessary connection signal at this moment. When PA4=2, it is taken as
an internal speed selection signal.
#3：Short circuit B1 and B terminals when braking resistor is not needed to connect.Connect
resistance to P, B ends when external resistance is needed. Disconnect B1 and B at the same time.
52
3.6.4 Position Mode Connection of DAT2000C Series Products
#2
Servo motor
Single or three phase
AC 220V P B1 B
R 2
U
S MS
V 3
T 3～
W 4
Power earth PE PE 1
wire AC servo drive unit
#3
#1 CN1
External given DC15V～24V 1 OH
* COM+ 41 16 0V
4 .1 k
* COM+ 39
SON * SON 13
Alarm clear ALRS 12
Zero-speed clamping ZSL 34
CN2
CCW drive prohibition FSTP 11
CW drive prohibition RSTP 10
CCW torque limitation FIL 33
CW torque limitation RIL 32

Position deviation clearing * CLE 8
Pulse command prohibition * INH 7
PE
#4
CN1
COM- 38
ALM+ 23
Alarm output
ALM- 22
SRDY+ 17 CN4 CNC
Servo ready
SRDY- 16
COIN+ 15
position arrival
COIN- 40
ZSP+ 21
Zero-speed output
ZSP- 20
DAT series
Band-type brake HOLD+ 43 CN5 drive unit
releasing signal output HOLD- 42
CZ+ 47
Motor zero point signal
CZ- 46 PE
PE
CN1
270
PULS ＋ 6
Pulse command PULS － 5

270
input SIGN ＋ 31
SIGN － 30
Fig.3-57 Position mode connection of DAT2000C

#2：Short circuit B1 and B terminals when braking resistor is not needed to connect.
Connect resistance to P, B ends when external resistance is needed. Disconnect B1 and B at the
same time.
53
CHAPTER 4 DISPLAY AND OPERATION
4.1 Operation Panel
Detailed functions of keys are as follows:
Key Name Function explanation
1. Parameter No. or parameter value is increased

2. Upturn1-level menu
Plus
3. Increase motor speed when manual operation
4. CCW rotation starting when jog operation
1.Parameter No. or parameter value are reduced
2.Page down 2-level menu
Minus
3．Decrease motor speed when manual operation
4. CW rotation starting when jog operation
Return to previous level menu or cancel the
Return
operation
Multiplication Parameter increases 100 by pressing this
＋
combination key combination key once
Demultiplication Parameter decreases 100 by pressing this
＋
combination key combination key once
Confirmation key Enter next lower menu or confirm data alteration
When modifying the parameter, decimal light in the lower right corner of 6-section LED
lights up, which indicates the value is confirmed to valid, and it can be turned off by
pressing . If exit by pressing when the decimal light is not off, the setting of
parameter is invalid .
4.2 Display Menu
6-section LED is composed of monitor window of DAT series products. Manage the contents
with the form of menu.
First level menu comprises condition monitoring, parameter setting, manual operation, jog
operation. See Fig. 4-1 for the selection and operation of the first level menu.
54
Chapter 4 Display and Operation
Fig.4-1 Operation of display menu
4.3 State Monitoring
is state monitoring, and the user can select different monitor state on this menu.
Set value of parameter PA03 here or set initial monitoring state when power on.
Parameter Initial monitor

Operation Monitor data Explanation
value when power-on
Current motor speed 1000r/min
PA3=0 【1】
Current motor position lower

PA3=1
five-order (pulse) 【2】
Current motor position higher
PA3=2
five-order(×100000 pulse)
55
Parameter Initial monitor when Operation Monitor Explanation

value power-on data
Position command lower
PA3=3
Position command higher
PA3=4
five-order (×100000 pulse)
Position deviation lower
PA3=5
Position deviation higher

PA3=6
five-order (×100000 pulse)
PA3=7 Motor torque 70%
PA3=8 Motor current 2.3A
PA3=9 Reserve
Position mode is current control

PA3=10
mode
Pulse current of position
PA3=11
command is 283.8KHZ
PA3=12 Speed command is 210r/min
PA3=13 Torque command 20%
PA3=14 Reserve
PA3=15 Input terminal state 【4】
PA3=16 Output terminal state 【4】
PA3=17 Reserve
PA3=18 Operating 【5】
PA3=19 Display No.9 alarm
PA3=20 Reserve
Sample value of analog voltage

PA3=21
of high speed section
56
Param Initial Operation Monitor data Explanation

eter monitor
Sample value of analog voltage of low
PA3=22
speed section
PA3=23 Software version No.
PA3=24 Hardware version No.
PA3=25 Rated torque of the motor is 15N·m
PA3=26 Rated current of the motor is 14.5A
PA3=27 Rotation inertia of the motor
PA3=28 Input power is 1Kw
Radiator temperature is 32 centigrade

PA3=29
degrees
PA3=30 Voltage of DC bus line is 318V
PA3=31 Single-turn position of the motor 【3】
Lower digit of absolute position of the

PA3=32
motor 【3】
Higher digit of absolute position of the

PA3=33
motor 【3】
【1】In , r is motor speed code, 1000 indicates that CCW speed of the motor is
1000r/min. If it rotates in CW direction, negative rotational speed is displayed. Unit: r/min.
【2】Feedback position value of the motor encoder consists of two parts: POS．(higher-five-order)
＋POS(lower-five-order).
Example： × 100000 ＋＝1845806 pulses
As the same principle, pulse value of the position command is composed of two parts:
CPO．(higher-five-order)＋CPO (lower-five-order).
Example： × 100000 ＋＝1845810 pulses
Relationship between CPO and POS：
Calculation formular of position deviation（EPO）when electronic gear ratio is 1：1：
57
－＝
－＝
【3】When 17-digit absolute encoder is used, displays the position of motor rotor at
each rev, the display scope is 0~131071. If multi-coil absolute encoder (if 12-17 digit absolute
encoder) is selected, that is, the counting scope of each rev is 17-digit (0~131071),coil counting is
12-digit (0~4095). The motor position includes two parts ＋ during rotation,
displayed value scope is 0~536870911.
In single-circle absolute encoder, displays of and ＋ are

consistent.
【4】Refer to section 3.3.4 for states of input terminal, section 3.3.5 for states of output terminal.
【5】Display of operation state
Operation methods for monitor state selection are introduced bellow.

Example: There are two ways to enter low five-digit state of current position.
Method 1: Select state monitoring directly.
Method 2: Select state monitoring with parameters.
Fig.4-2 Select state monitoring with parameters
58
4.4 Parameter Setting
Default value: After set PA1 according to motor type, and execute operation ,
corresponding value becomes the default value.
Operations for motor default value recovery:

1. Input specific code for altering motor parameters, that is PA0=385.
2. Search for corresponding type code of current motor according to code list in Appendix A.
3. Input motor type code to PA1, press to enter parameter management menu, and
execute to complete the operation of defaulted valued recovery.

Name Unit
Parameter altering code 0～9999 315 P，S
PA0
When PA0＝315, parameters except PA1, PA2 can be altered
PA1 Motor type code 0～185 0 P，S
Taking example of recovering default parameter of 130SJT-M100D（A□）（motor type is 50）

below:
Press 2 times
Fig.4-3 Alter default parameter of the motor
1. 385 is specific code for setting default parameter of the motor. PA1 can be altered
when PA0=385.
2. User can evaluate whether the default parameter of the servo unit is suitable for the
motor through the operation of setting motor default parameter and related parameters
that are written into default value or PA1 parameter value (see appendix A). If PA1
parameter value without a corresponding motor type code, the motor may not work
59
normally.
3. Press key to validate the parameter after alteration. Now, the altered value is
reflected on the controller. If you are not satisfy with the parameters that is being altered,
don’t press key, press key to exit, and the parameter value is restored to the
one before alteration. If you hope the altered parameter is valid after power off, please
execute parameter writing operation.
On parameter setting, combination keys +

makes parameter increases hundred-fold or
decreases hundred-fold. Take the operation of changing the value of PA24 from 100 to 1800 as
example.
Fig.4-4 Usage of key combination
4.5 Parameter Management
This part introduced operations for parameter write, reading, backup, recovery and default
value recovery of DAT series servo unit in details. See the following figure for data storage
relationship of parameter management.
System power on: EEPROM parameter area Memory
Parameter ：
write-in Memory EEPROM parameter area
Parameter Memory
： EEPROM parameter area
read
Parameter
backup
： Memory EEPROM backup area
Backup EEPROM backup area Memory

recovery ：
Call out the Memory,
：the default parameters EEPROM parameter area
default
Fig.4-5 Storage diagram of parameter management

¾ EE－SEt Parameter write indicates that write the parameters in the memory to EEPROM
parameter area. Parameter alteration only changes the parameter value. It will change into
original value after power on again. If the parameter value is needed to be changed forever,
60
parameter write operation is used. Write parameter in the memory to EEPROM parameter area,
and the altered value will be used after power on again.
¾ EE－rd Parameter reading indicates that read data from EEPROM parameter area into memory.
This process will be done once after power on. At the beginning, parameter values in the
memory are the same as the ones in the EEPROM parameter areas. Parameter value in the
memory will be changed after altering the parameter. If user is not satisfy with the altered
parameter or the parameter is disarrayed, execute parameter reading operation. Read the data
from EEPROM parameter area into memory again, recover original parameter at power on.
¾ EE－bA Parameter backup. Write parameter in the memory to EEPROM backup area. This
function used to prevent incorrect alteration and the original parameter can not be recovered.
¾ EE－rS Backup recovery. Read parameters from EEPROM backup area to the memory. Write
operation is needed, otherwise, the parameter will not change after power on.
¾ EE－dEF Default value recovery. It indicates that default value of corresponding parameter is
read to the memory, and it is written to parameter area of EEPROM. The default parameter of
the motor will be used at power on again. (See section 4.4 for parameter setting)
Operations for parameter management are as follows:
Parameter
write-in
Parameter read Successful

operation
Operation
Parameter failure
backup
Backup
recovery
Default
recovery
Fig. 4-6 Parameter management
Parameter writing example:

Power on
Press 5 Press 2
times times
Point flash is modified
at the 0 bit position
Press 2
times
Modification
The data is modified and the
0 bit is always lighted up.
1s
The data modification is
Point flash is modified affirmed and the 0 bit
at the 0 bit position indicator is turned off.
Fig. 4-7 Steps of parameter writing
61
CHAPTER 5 DEBUGGING AND OPERATION
Attention: When using the servo unit first time, users should page out the monitoring
window of motor current after the first power on. Once SON turns into ON, please monitor in time
the amount of motor current. If the current exceeds the rated amount, cut off the power
immediately and check the parameter setting of the wiring and servo unit, or the motor is very
likely to be damaged.
Debugging and operation modes will be introduced in this chapter in accordance with the values
of PA4 parameter.
Relevant Parameter Default Application

Name Unit
parameter range Value modes
PA4 Work mode choice 0～6 1 P，S
z PA4=0：Position mode；
Set the direction and angle of motor rotation through digital pulse, the
motor rotor controlled by servo unit will rotate to the corresponding angle in
accordance with the preset direction. The rotary angle (position) and speed are
both controllable.
z PA4=1： External analog voltage command speed mode
Set the direction and angle of motor rotation through analog voltage, the
motor rotor controlled by servo unit will rotate to the corresponding angle in
accordance with the preset direction and speed. This mode can not only
enhance motor’s fast action capability, but also strengthen its turbulence-resist
ability of operation speed
z PA4=2：Internal digital command speed mode
Users should set the values of PA24～PA27 which will be chosen as the
internal speed command corresponding to the rotary speed of motor through
status combination of input points SC1 and SC2 in CN1,
z PA4=3：Manual mode
Operate under the menu , accelerate or decelerate by pressing ‘
or ’.
z PA4=4：Jog mode
Operate under the menu , set the Jog speed value of PA21 first,
then proceed CCW, CW revolving operation by pressing ‘ or ’.
z PA4=5: Encoder Zero-setting, preset well in production, no need to set
again.
z PA4=6: Analog Zero-setting, preset well in production, no need to set
again.
There are normally the following four steps in the operation of a new servo unit.
62
Chapter 5 Debugging run
The first three steps will be illustrated to facilitate users for a faster operation of the servo
drive device. Users with different requirements may refer to “Function Debugging” of Chapter Six
for detailed information.
z When using the servo unit first time, manual operation or JOG operation without
connected load is recommended. Make sure the servo unit and motor function
normally after moving, oscillating or assembling.
z After confirming the drive device work properly without connected load, users
connect CN1 control signal and proceed debugging and operating in speed mode or
position mode according to users’ practical needs.
z After the debugging of signal connection, parameter setting and motor operation run
regularly, connect the load for loaded operation.
5.1 Manual and Jog operation
First of all, wire correctly according to the following figure, do NOT connect motor load.
Fig. 5-1 Major loops connection illustration
The following schematic diagram is recommended to wire the control circuit of KMI.
63
After wire correctly, check according to the following illustrations before power on:
Items to be examined Examine methods

The specification of servo unit and motor Refer to instruction manual to check
matching or not. nameplates of servo unit and motor
Breaker, contactor and isolation transformer Refer to “Choose of Peripheral Equipments”
connected correctly or not. on Appendix B.
R, S, T, PE, P, B1, B and U, V, W, Make sure field power circuit, if necessary,

PE connected correctly or not。 use multimeter for measurement.
Motor encoder feedback signal wire

Refer to Manual 3.4
connected correctly or not.
Major loop terminal screw fixed firmly or not. Check if any loose with screwdriver.
Make sure connect normally, and then turn on the power as the following time sequence.
5.1.1 Manual Operation
After the servo unit turned on, will show as in normal condition; if the servo unit
is out-of-action, alarming code will show, in this condition please refer to Chapter
Eight (Abnormal and Managing) for solution.
Essential Parameter Default Application

Name Unit
Parameter range Value Mode
PA54 Interior enabling 0～1 0 P，S
64
Steps of manual operation (PA4=3) as follows:
1. Just after the servo unit is turned on, will show, it’s the
monitoring window of motor operation speed.
2. Check if PA1 corresponds to the right motor (refer to Appendix A), if
PA1 is correct, the step is skipped, otherwise the user output the default
Press 2
times
parameters which corresponds to the servo motor of the servo unit (see
section 4.4 for operation methods ).
3. Set PA4=3 and choose the manual operation mode.
4. Set PA54=1, interior enabling (before enabling, make sure no danger

to rotate the motor shaft); (If the user wants to cancel interior enabling,
set PA54=0)
5. Enter manual operation manual per the left operation drawing.
(previous parameter setting omitted)
Acc. Dec.
6. Keep pressing , motor begins accelerating, release the button,
speed remains unchanged;
keep pressing , and motor begins decelerating till zero speed, the
motor will reverse-accelerate.
If there is abnormal condition in manual operation, such as oscillating or noisy in

motor, it’s necessary to debug the speed loop parameters of PA5,PA6 and PA8.
Refer to 6.1 for specific debugging methods.
5.1.2 Jog Operation
After the servo unit is turned on, will show as in normal condition; if the servo
unit is out-of-action, alarming code will show, in this condition please refer to
Chapter Eight (Abnormal and Managing) for solution.

Name Unit
Parameter range Value Mode
PA21 JOG operation speed r/min -3000～3000 120 S
PA54 Interior enabling 0～1 0 P，S
Like manual operation, Jog operation also proceeds through operation panel.
65
Steps of Jog operation (PA4=4) as follows:
1. Just after the servo unit turned on, will show, it’s the
monitoring window of motor operation speed.
2. Check if PA1 corresponds to the right motor (refer to Appendix A), if
PA1 is correct, the step is skip, otherwise the user outputs the default
parameters which corresponds to the servo motor of the servo unit (see
section 4.4 for operation methods ).
3. Set PA4=4 and choose the Jog operation mode.
Set PA21=500, Jog speed: 500 r/min.
4. Set PA54=1, interior enabling (before enabling, make sure no danger
to rotate the motor shaft); (If the user wants to cancel interior enabling,
set PA54=0)
5. Enter manual operation manual per the left operation drawing.
(previous parameter setting omitted)
6. Keep pressing , motor will operate at the speed of 500 r/min

preset per PA21;
keep pressing , motor will reverse-operate per the speed set per
PA21. Release the button, motor stops rotating and remains
zero-speed.
If there is abnormal condition in Jog operation, such as oscillating or noisy in motor,

it’s necessary to debug the speed loop parameters of PA5,PA6 and PA8. Refer to
6.1 for specific debugging methods.
5.2 Speed mode operation
5.2.1 External analog voltage command
① First, refer to the wiring diagrams in section 3.61 (DAT 2000 series) or section 3.6.3
(DAT2000C series) for correct wiring, and pay attention to the essential input signals in the following
chart which must be connected to.
②,After correct connection, all of the input signals must be OFF, the power is turned on and the
essential parameters are set .
Essential
Parameter illustration
parameter
PA4 PA4=1 Choose external analog voltage command speed mode
Voltage range of analog control signal under speed mode:
PA46= 0：（－10V～＋10V）effective, voltage command is positive, motor CCW
PA46
rotates; Voltage command is negative, motor CW rotates.
PA46= 1：（0～＋10V）Effective, SC1, SC2 are the rotating start signals of CCW,
66
CW respectively.
PA46= 0：（－10V～＋10V）effective：
PA19= 0：Motor CCW rotates when voltage command is positive.
PA19= 1：Motor CW rotates when voltage command is positive.
PA46= 1：（0～＋10V）effective：
PA19
PA19= 0：Motor CCW rotates when SC1 is ON, or motor CW rotates
when SC2 is ON.
PA19= 1：Motor CW rotates when SC1 is ON，or motor CCW rotates
when SC2 is ON.
Analog command gain:
PA29 sets the motor rotating speed

corresponding to 1V analog voltage.
Different motors have different rated

rotating speeds, so the value should be
PA29 set according to motor models.
E.g.: The responding rated rotating speed

of GSK110SJT-M060D (A□) is 2500r/min.
Set PA29=250.
10V command corresponds to motor at 2500r/min.

5V command corresponds to motor at 1250r/min,
1V command corresponds to motor at 250r/min.
③. Basic debugging operation
1. After the essential parameters is set completely, the user enters into the step of
parameter-read-in operation. (Refer to Section 4.5 for the operation illustration of on
parameter management)
2. Set a minor analog command to make the input signal SON turns ON, the motor will rotates
following the command.
¾ PA46=0, analog command -10V～+10V effective; take the following diagram for example:
input analog command n（r/min), the on-off control motor of SON will operate or stop; Command
unchanged, if the motor direction reverse, the value of parameter PA19 will change.
67
Fig 5-2 Time sequence of motor operation when PA46=0
¾ PA46=1, analog command 0～10V effective, set SC1, SC2 as the positive-and-negative
rotating signals. If analog voltage turns to be negative, the motor will not function.
r/min
n
Analog
0
command
t
SC 1
OFF ON OFF ON OFF
SC 2
OFF ON OFF ON OFF
The rotation
speed when n
PA19=0 (r/min) 0
t1 t2
The rotation
speed when 0
PA19=1 (r/min)
-n
Fig 5-3 Time sequence of motor operation when PA46=1
t1, t2 represents the accelerating and decelerating time of motor respectively, the
larger the motor load inertia is, the longer the accelerating & decelerating time will be.
3. Gently increase the analog command to fasten the operation speed of motor. Meanwhile
monitor the motor’s operation condition and check if oscillation or noise occurs, the speed is stable as
well as motor current exceed the rated value. Observe the value of motor current by
monitoring . In normal condition, the displayed current value won’t exceed the rated one.
4. If the motor rotates from zero-speed to the maximum positive rotating speed, or from the
maximum negative rotating speed to the maximum positive speed in normal condition, users can
proceed the debugging of other functions.
Troubleshooting of abnormal often met during the operation when the analog command speed
68
mode are introduced in the following chart:
Abnormality during the debugging
Number Troubleshooting
operation
Motor rotating direction is Refer to Chapter 6.3 for the switchover of
1
inconsistent; motor rotating direction
1. Check if the shielding wire is connected
correctly.
2 Oscillation or noise occur in motor 2. Refer to Chapter 6.1 for debugging
illustration of fundamental performance
parameters.
1. Inspect the command source mode, and
test the setting of PA46, PA19;
3 Motor can only run in one direction;
2. Check if the analog command input wire
connected reversely.
Set OV command, motor will still Refer to Chapter 6.6.1 for offset
4
move slightly; adjustment.
5.2.2 Internal digital command
① The essential input signal in the following chart must be connected.
Essential input signal Functions
*COM＋ The input point common terminal is the control supply input terminal.
*SON Servo enabling signal can individually control motor enabling.

*SC1 speed choice 1
*SC2 speed choice 2
②,Confirm the connection is correct, all input signals must be OFF, the power supply is turned
on and the essential parameter must be set.

Name Unit
parameter range value mode
Choose the internal digital
PA4=2 0～6 0 P，S
command speed mode
Digital command I/O status of selection speed

Operation speed
default value SC2 SC1
PA24＝500 Internal speed 1 OFF OFF
PA25＝2000 Internal speed 2 OFF ON
PA26＝-1000 Internal speed 3 ON OFF
PA27＝-1500 Internal speed 4 ON ON
69
③ Basic debugging operation
1. After the essential parameters is set completely, the drive unit enters into the step of
2. Set input signal SC1 and SC2 turn OFF, the motor will rotate at the internal speed, i.e.
500.0r/min when SON turns ON. Observe the value of motor current by monitoring . In
normal condition, the displayed current value won’t exceed the rated one.
3. Switch over the four different internal speeds by changing the combination status of SC1 and
SC2. Meanwhile monitor the motor’s operation condition and check if oscillation or noise occurs, the
speed is stable as well as motor current exceed the rated value. Following figure shows the
successive switch-over time sequence of the four speeds.
Motor speed
2000r / min
500 r / min
PA 24 PA 25 PA 26 PA 27
0 r / min
-1000 r / min
-1500 r / min
Internal Internal Internal Internal

speed 1 speed 2 speed 3 speed 4
SC1 OFF ON OFF ON
SC2 OFF ON
4. When motor operates normally at the four-phase internal speed, users can proceed the
debugging of other functions.
Troubleshooting of abnormality during the operation under the internal speed command mode
introduced in the following chart:
NO. Abnormality during the debugging operation Troubleshooting

Refer to Chapter 6.3 for the
1 Motor rotating direction is inconsistent; switchover of motor rotating
direction
Refer to Chapter 6.1 for debugging
2 Oscillation or noise occurs in motor; illustration of fundamental
performance parameters.
Check to judge if the
The status of speed choice input signal is input signal correct. (refer to
3
inconsistent with motor speed Chapter 3.3.4 for switching value
input points )
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5.3 Position Mode Operation
① First, refer to the wiring diagrams in section 3.61 (DAT 2000 series) or section 3.6.3
(DAT2000C series) for correct wiring, and pay attention to the essential input signals in the following
chart which
Essential input signals Function
Input point common terminal is the control supply input

*COM＋
terminal.
Servo enabling signal can individually control motor
*SON
enabling in this mode.
*PULS＋ position command input
*PULS－ Input model: 1. pulse + direction
*SIGN＋ 2. CCW pulse+ CW pulse
3. orthogonal pulse A/B phase
*SIGN－
② After correct connection, all of the input signals must be OFF, the power supply is turned on
and the essential parameters must be set.
Essential
Parameter illustration
parameter
PA4 Choose position mode
Position command E-gear function:
PA12 is the pulse command multiplying factor
PA13 is the pulse command frequency-division factor
Set the E-gear ratio of position command to match various pulse commands.
PA12 The calculating formula of E-gear ratio is as follows:
PA13
（refer to Chapter 6.4.1 for detailed calculation method.）
position command pulse model choice

PA14=0：pulse + direction
PA14 PA14=1：CCW pulse + CW pulse
PA14=2：Two-phase orthogonal pulse input; (refer to Chapter 3.3.3 for
position command input)
Position command reverse direction
PA15 PA15＝0：Maintain the original command direction

PA15＝1: Take the reverse direction of input pulse command. (see also
Chapter 6, Section 3)
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③ Basic debugging operation
1. After the essential parameters is set completely, the motor enters into the step of
2. Turn SON to ON and keep zero-speed, set the position pulse command with small frequency
and then the motor will run. Observe the value of motor current by monitoring . In normal
condition, the displayed current value won’t exceed the rated one:
3. Gently increase the analog command to fasten the operation speed of motor. Meanwhile
monitor the motor’s operation condition and check if oscillation or noise occurs, the speed is stable as
well as motor current exceed the rated value.
4. When the motor can operate along with command within the rated rotating speed, and that the
PA12
number of position command pulse showed equals to the ones that ×
PA13
showed, users can proceed debugging of other functions.
Troubleshooting of abnormality during the operation under the position command mode are
introduced in the following chart:
Abnormality during the debugging

No. Troubleshooting
operation
No data is displayed, motor
1 Test command wiring and upper computer
does not function after enabling;
Data is displayed, motor Test enabling signal and the setting of

2
does not function; essential parameter
Refer to Section 6.3 for the switch-over of
3 Motor rotating direction is inconsistent
motor rotating direction
Refer to Chapter 6.1 for debugging illustration
4 Oscillation or noise occurs in motor
of fundamental performance parameters.
Test the mode of command source and
5 Motor does not function
correctly set based on PA14.
Data showed on is 1. Check the mask processing of control

6 inconsistent with the pulse number of signal wire
command source 2. Keep away from strong interference source.
PA12 When position command available, SON
The pulse value of ×
PA13 signal is not always effective, i.e. SON may
7
is inconsistent with the pulse number turn OFF sometimes even if there is position
showed on command.
72
Chapter 6 Function Debugging
Chapter 6 FUNCTION DEBUGGING
6.1 Fundamental performance parameter debugging illustration
Fig 6-1 Fundamental performance parameter adjustment diagram
When debugging motor parameters, users can first output the default parameters according to
the corresponding motor model codes in Appendix A. If abnormal situations, such as oscillation, noise,
creeping or insufficient force, occur during the operation, and the fundamental performance
parameters need to be adjusted. Generally speaking, parameters in above diagram should first be
adjusted in the inner-ring speed loop, and then the out-ring speed loop.
z PA5 (Speed loop proportional gain):

The larger the PA5 speed loop proportional gain value is, the higher the servo rigidity will be;
while if the value is over large, the motor is liable to oscillate (motor generates abnormal sound) when
starting up or stopping running; the smaller the value is, the slower the motor responds. The user can
add or decrease 5o each time on the basis of the default values for adjustment, and observe the
effect. Please note the general value range of PA5 is 150～900.
z PA6 (Speed loop integral time factor)

The larger the value of PA6 speed loop integral time factor is, the faster the system will respond;
While the system will turn unstable if the preset value is over large, and even oscillation occurs; the
smaller the value is, the slower the motor responds. The integral action may weaken and the
steady-state error can not be decreased if the value is too small. The user can add or decrease 5o
each time on the basis of the default values for adjustment, and observe the effect. Please note the
general value range of PA6 is 20～500.
The proportional gain and integral time constant of speed loop should be proportionally adjusted
73
according to specific servo models and load condition. In general, the larger the load inertia is, the
bigger the speed loop proportional gain and integral time factor will be. In the case of no oscillation
occurs in the system, speed loop proportional gain is to be set as bigger as possible.
Fig 6-2 below shows the response curve of phase-step command input of a driven motor with
certain inertia load.
Curve 1 shows the speed phase-step input curve when PA5, PA6 are relatively small; with quite
soft motor character, slow dynamic response and comparatively large steady-state error.
Curve 2 shows the speed step-phase input curve when the value of PA5, PA6 are relatively
proper. The rigidity of motor is moderate and dynamic respond fast.
Curve 3 shows the speed phase-step e input curve when PA5, PA6 are relatively large;
instantaneous overshoot is to be the largest and the motor is liable to oscillate.
Fig. 6-2 Response curve of phase-step command input
z PA8（Speed feedback filtering factor）

The larger the speed feedback filtering factor value is, the faster the speed feedback responds.
The motor will generate big electromagnetic noise if the value is overlarge; the speed feedback will
respond slower as the value decreases, and the speed will fluctuates more which may lead to
oscillation if the value is over small. The user can add or decrease 5o each time on the basis of the
default values for adjustment, and observe the effect. Please note the minimum value of PA8 should
not less than 50.
z PA9 (Position loop proportional gain)

The closed position loop will work when the servo unit position loop adopts simple P adjustment,
position mode and the speed mode orientation function. The larger the position loop proportional gain
is, the faster the position command responds and the bigger the rigidity will be. With overlarge gain
value, the motor will generate position overshoot and even oscillation when it starts or stop working;
74
the smaller the value is, the slower the response will be and tracking error will thereby increase. The
user can add or decrease 5o each time on the basis of the default values for adjustment, and observe
the effect. Please note Please note the general value range of PA9 is 25～60.
z PA10（Position loop feed-forward gain）, PA11(Position loop feed-forward filtering factor)：

PA10 adjust the speed loop through the speed information of position command, tracking error
will decrease as the value increases, while the motor is liable to generate overshoot and oscillation if
the value is overlarge.
PA11 actually carries on smoothing processing of the position command feedforward control.
The lager the value is, the faster the phase-step speed command will be responded to, thereby better
restraining the position overshoot and oscillation resulted from the sudden change of command
speed. The smaller the value is, the less obvious the effect of feedforward control will be, while the
control will generate bigger oscillation.
Generally speaking, PA10（Position loop feed-forward gain） and PA11(Position loop
feed-forward filtering factor) may not be used.
z PA50 (Analog command filtering factor)

The smaller the analog command filtering factor value is, the higher interference signal-resistant
ability is. The response to speed command will be too slow if the value is too small. The larger the
value is, the lower interference signal-resistant ability will be, while the response will faster. The user
can add or decrease 50 each time on the basis of the default values for adjustment, and observe the
effect. Please note the minimum of PA50 is no less than 50.
6.2 Application of brake releasing signal
In order to lock the vertical or tilting workbench linked with motor shaft and prevent the falling off
of the table if the servo warning or power absent, the servo motor with electricity-breaking brake, i.e.
brake servo, is usually used. To effectively control the motion of brake motor, brake releasing signal
(HOLD) is furnished in this servo unit.
Electricity-breaking brake can only be used to maintain workbench, definitely can not to
decelerate or to stop machine’s running compulsively.
1. Correctly wire according to fig.6-3, and note the prerequisite connection of essential input
signal in the following chart.
Essential input signal Function
Input point common terminal, is the control

*COM＋
supply input terminal.
*SON Servo enabling signal
*HOLD＋
Brake releasing signal
*HOLD－
Figure 6-3 shows the wiring theory of practical application of brake releasing signal controlling
brake servo. Users offer 24V power and pay attention to the polarity of leading power when
75
connecting brake releasing signal (HOLD±). See the detailed wiring in the diagram below.
24 V power
Brake motor DAT2050C

Relay
CN1
HOLD+ 43
HOLD- 42
Electricity-breaking brake
Fig. 6-3 Typical example of HOLD± brake releasing signal
Motors with different power will be configured with the electricity-breaking brakes with different
power. So users can refer to the following chart listing the technical parameters of brakes configured
to motors of different specifications when choosing 24V power.
Motor base Rated Rated Releasing time

20℃ Brake power （Unit W）
number torque voltage （s）
110 4 24V DC 20 0.037
130 8 24V DC 25 0.042
175 32 24V DC 40 0.135
2. After correctly wiring, switch on the power and set the essential parameters. Considering the
time sequence of HOLD signal, please use the following parameters related to braking action to
adjust the time if there is some tiny movement of the machine or workbench because of the gravity.

Name Unit
parameters range value mode
The maximum decelerating
PA51 time of motor before the action ms 0～30000 50 P，S
of electricity-breaking brake
PA52 servo locked delay time ms 0～30000 50 P，S
Motor speed when
PA53 electricity-breaking brake r/min 5～3000 30 P，S
acting
Situation 1: when motor is in the state of rest, power supply of servo unit is turned off suddenly.
Generally, when HOLD is turned off, the servo unit will turned off at the same time. Users can
adjust PA52 to delay the turned-off of servo unit to avoid tiny movement that machine or workbench
occurs due to the gravity.
76
When the servo is turned off, the energy will be released through dynamic braking circuit
in a short time. So if the value of PA52 is set big, the practical servo locking delay time will
not exceed the time released by energy.
Situation 2: the motor is in operation, the servo unit is turned off suddenly.
Do not brake suddenly when the servo unit runs at a high speed, otherwise the brake will
be damaged easily. The HOLD brake releasing signal should be shut off at the right time.
PA51, PA53 should be properly adjusted first to decelerate the motor and then brake.
PA53 is recommended to be set at 30r/min. The value of PA51 should be set according to
the practical machinery movement.
If movement of machinery or workbench occurs because of the delaying of periphery switch

power and relay coil when the power is unexpectedly shut off, the solution below is shown.
77
KM1 AC contactor is a control switch connected with servo unit power. A normally-open contacts
of KM1 is connected to circuit of brake releasing signal, and when the power supply is turned off
manually or suddenly, KM1 is turn off first and the normally-open contact is shut off thereby, then the
brake of motor loses power and brake immediately to eliminate the delay of other source and to
further guarantee that there is no movement of machinery or workbench.
78
6.3 The switchover of motor rotating direction
Standard mode
When all of the parameters of servo unit are set to be the default values, the relationship
between speed/position command and motor rotating direction is the standard mode.
Reversal mode
If the servo motor wiring and speed/position command are unchanged, there is a “reversal
mode” on servo unit which can make the servo motor rotate reversely.
1. Position mode
Name Unit
Reverse position command
0～1 0 P
direction
PA15
PA15＝0：remain the original command direction
PA15＝1：reverse input pulse command
Command Standard setting（PA15=0） Reversal mode（PA15=1）
CCW
command
CW CCW
CW
command
2. Speed mode
Name Unit
Reverse analog
command/reverse rotation 0～1 0 S
start of CCW, CW
1. If analog command is －10V～+10V: （PA46＝0）
PA19＝0: analog command positive，motor CCW rotates，analog command
negative，motor CW rotates；
PA19 PA19＝1: analog command positive，motor CW rotates，analog command
negative，motor CCW rotates；
2. If analog command is: 0～10V （PA46＝1）
PA19＝0，Set the CCW rotating start signal，motor CCW rotates, Set the CW
rotating start signal，motor CW rotates
PA19＝1，Set the CW rotating start signal，motor CW rotates, Set the CCW
rotating start signal，motor CCW rotates
79
Standard setting（PA19=0） Reversal mode（PA19=1）
(PA46=1)
CCW command
(PA46=1)
CW command
(PA46=1)
Positive voltage
(PA46=0)
Negative
voltage
(PA46=0)
6.4 Output of position feedback signal
Position feedback signal is to conduct within the servo unit frequency division with the pulse
data from motor encoder (PG) and output them to upper computer through CN1 according to the
preset shift pulses to achieve the functions as upper computer position closed loop control.
Output mode Output signal names Function
*PAO＋ Position feedback output signal A

Differential output
*PAO－ phase
*PBO＋ Position feedback output signal B
Differential output
*PBO－ phase
*PZO＋ Position feedback output signal Z
Differential output
*PZO－ phase
Two forms of output wave form as below:
80
The pulse number of position feedback signal is set by the parameters of drive unit. Set the
parameters as the following chart and according to the different types of encoders corresponding to
the servo motors driven by drive unit (refer to this manual Section 1.2.1 to check the encoder types).
Motor Related
Illustration
encoder type parameter
Incremental PA30 Position feedback output pulse gear ratio should be set in
type PA31 PA31≥PA30, if PA31<PA30, it will output per PA31=PA3.
PA22 The setting will not effect unless they are saved and re-power on
after PA30,PA31 well set each time.
E.g.: as the figure shows, when PA30：PA31= 4：5, the
corresponding pulse number is
Absolute type PA32 PA32：Position feedback signal frequency division ratio. Set the
PA22 pulse number that drive unit feedback to upper computer each circle
the motor rotates.
Counting issue of AB phase pulse:

AB phase pulse counting takes 2 phase edge signal as the triggering signal, i.e. it counts 1 once 1
edge signal is acquired. E.g., if set PA32=16, the whole wave form of the upper computer reported
back by drive unit each circle the motor rotates will be as follows:
81
6.5 Function Debugging of Position Mode
6.5.1 Position Command E-gear Ratio
Based on the relative machinery change gear, E-gear function refers to the function that can set
the amount of motor movement which equals to the input command as any value through the
adjustment of servo parameter in the controlling process, without any considering to the machinery
reduction ratio or the encoder wiring.
Relative Parameter Default Application

Name Unit
Position pulse command
PA12 1～32767 1 P
multiplying factor
PA13 1～32767 1 P
frequency division factor
Set the parameter of PA12 and PA13, it’ll be convenient to match various pulse sources and
achieve the expected control resolution (i.e. mm/pulse)
The practical load speed=command pulse speed ×G× machinery reduction ratio
The practical minimum displace =minimum command pulse route ×G× machinery reduction ratio
If E-gear ratio G is not 1, the result of division may have remainder, and there will be
position deviation, the maximum deviation is the motor’s minimum rotating amount
(the minimum resolution).
Below is the formula of position command E-gear ratio adapting to absolute-type encoder motor
G： E-gear ratio, recommended range:

C： Motor encoder wiring
L： Screw rod lead (mm)
ZM： Number of gear teeth of the screw rod end (if reduction gearbox exists)
ZD： Number of gear teeth of motor end
δ： The minimum output command unit of the system (mm/pulse)
I： Command displacement
S： Practical displacement
CR： Upper computer command multiplying factor
CD： Upper computer command frequency division factor
【e.g.】: Machine system: GSK988T, the motor directly connect with X-axis screw rod, the screw
rod lead: 6mm, motor encoder: 17 bit absolute, leave out the system’s command multiplying and
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frequency division factors, what is the E-gear ratio of the servo unit.
Solution: As the motor directly connect with X-axis screw rod, then ZM ：ZD＝1; as a rule, S=1
and the command displacement equals to the practical displacement; also, if system GSK988T
chooses0.1μ as its machine accuracy，in the diameter programming, the minimum output command
0.0001
unit of the X-axis, δ ＝ 2 mm ， substitute “δ” into the formula and get:
Then set PA12=2048, PA13=1875.
6.5.2 Position arrival signal （COIN）
COIN is the position arrival signal under the position mode.

If the position tracking error is less than or equals to the preset value of PA16, servo unit output
position arrival signal, COIN signal output optocoupler conducts.
Relative Parameter Application

Name Unit Default
parameter range mode
Position arrival range Pulse 0～30000 20 P
PA16 If the position tracking error（DP－EPO of the display menu）is less than or equals
to the preset value of PA16, the servo unit regards the position has arrived, and
the position arrival signal COIN outputs ON, otherwise outputs OFF.
1: Command speed
2: Motor speed
Position deviation
PA16
COIN ON OFF ON

Name Unit Default
Position over-proof test
0～30000 400 P
range
PA17
Under the position mode, if the position tracking error exceeds the parameter
of PA17, the servo unit position over-proof alarm issues Err-4.
83
6.5.3 Pulse deviation zero clearing（CLE）
CLE is the signal of pulse deviation zero clearing, if it displays ON under position mode, the
pulse remained in the position deviation counter of the servo unit will be cleared.
6.5.4 Pulse command inhibition （INH）
INH is the signal of pulse command inhibition, if it displays ON under position mode, servo unit
inhibits receiving pulse command.
6.6 Function debugging under speed mode
6.6.1 Adjustment of analog command
The following parameters should be adjusted if the speed commands inconsistent with practical
motor rotating speed.
Parameter Name Unit Parameter range Default
Analog command null
-30000～30000 0 S
shift compensation
r/min
If command voltage is “0V”, the motor 2500
sometimes can still rotates at a tiny speed,

PA43 which is caused by the little (Mv unit) PA43
100 Adjustment area
“excursion (=command excursion) from
-10V 0 10V
upper computer or external command voltage. 100
PA43 may compensate this excursion in such way:
If the motor excurse to CCW, decrease the
value to PA43 till the motor get zero speed.
84
If the motor excurse to CW, increase the value to PA43 till the motor get zero speed
The adjusting sequence of the analog value is recommended as follows:

1. First fix the value of PA29 which can be seen as the corresponded motor rotating speed when
PA 29 sets 1V.
2. Adjust PA34 and revise the “excursion” to “0V” to stop the motor.
3. Finally set some speed commands, such as 500r/min, 1500r/min and 2500r/min, then judge if
the motor speed slope consistent with the command according to the motor rotating speed displayed
on LED.
6.6.2 Speed arrival signal（COIN）
COIN is the speed arrival signal under the speed mode.
If the absolute value of practical speed equals to or greater than the setting, COIN signal outputs
optocoupler conducts.

Name Unit Default
Speed arrival signal
PA28 r/min 0～3000 50 S
output threshold value
e.g.: Set PA28=50, refers to the output speed arrival signal (COIN) when the practical speed
greater than or equals to 50r/min.
As the diagram below: speed greater than 50r/min, output COIN signal.
85
6.6.3 Zero speed clamping（ZSL）
When the upper computer controls servo unit by analog voltage command, the zero speed
clamping function can be used if the analog voltage command is required not to be “0V”, the motor
should be stopped and the servo being locked.
The “zero speed clamping” function can be achieved in this way:
ZSL zero speed clamping input point control.
Under speed mode, speed command is not 0 and ZSL displays ON to lock the motor.
86
Chapter 7 Parameters
CHAPTER 7 PARAMETERS
7.1 Parameter List
P: Position Control Mode S: Speed Control Mode

Default Applicable
No. Name Range Unit
Value Mode
PA0 Password 0～9999 315 P, S
PA1 Motor model code 0～185 0 P, ,S
PA2 Software version (read only) 105 P, S
PA3 Monitoring setting at initialization 0～33 0 P, S
PA4 Working mode selection 0～6 0 P, S
PA5 Speed loop proportional gain 5～2000 200 Hz P, S
PA6 Speed loop integral time coefficient 50～4000 100 P, S
Low-pass filter on current
PA7 1～4000 1000 ms P, S
command
PA8 Speed feedback filter coefficient 10～4000 1000 P, S
PA9 Position loop proportional gain 20～1000 40 1/s P
PA10 Position loop feedforward gain 0～100 0 ％ P
Position feedforward filter
PA11 10～3000 2000 Hz P
coefficient
PA12 1～32767 1 P
multiplying ratio
Position pulse command frequency
PA13 1～32767 1 P
division ratio
PA14 Position command mode selection 0～2 0 P, S
Position command direction
PA15 0～1 0 P
reversed
PA16 Position reach range 0～30000 20 Pulses P
Position excess error detection
PA17 0～30000 400 P
range
Position excess error detection
PA18 0～1 0 P
validity selection
PA19 Analog speed command inverted 0～1 0 S
Drive unit input prohibition validity
PA20 0～1 1 P, S
selection
PA21 JOG running speed -3000～3000 120 r/min S
PA22 Position feedback output inverted 0～1 0 P, S
PA23 Maximum speed limit 1～4000 2500 r/min P, S
PA24 Internal speed 1 -3000～3000 500 r/min S
PA25 Internal speed 2 -3000～3000 2000 r/min S
PA26 Internal speed 3 -3000～3000 -1000 r/min S
87
Default Applicable
No. Name Range Unit
Value Mode
PA27 Internal speed 4 -3000～3000 -1500 r/min S
Speed arrival signal output valve
PA28 0～3000 50 r/min S
value
PA29 Analog input gain 0～400 250 P, S
Position output pulse multiplying
PA30 1～32 1
ratio
Position output pulse frequency
PA31 1～32 1
division ratio
Position feedback signal frequency Pulses
PA32 16~32767 20000 P, S
division ratio
PA33 Reserved
PA34 Internal CCW torque limit 0～300 300 % P, S
PA35 Internal CW torque limit -300～0 -300 % P, S
PA36 External CCW torque limit 0～300 100 % P, S
PA37 External CW torque limit -300～0 -100 % P, S
Manual operation, JOG running
PA38 0～300 100 % S
torque limit
PA39 Reserved
PA40 Reserved
PA41 Reserved
PA42 Reserved S
Analog command zero drift -30000～
PA43 0 0.1r/min S
compensation 30000
PA44 Reserved
PA45 Reserved S
PA46 Analog command mode selection 0～1 0 S
PA47 Alarm output inverted 0～1 0 P, S
PA48 Reserved
PA49 Reserved
PA50 Analog command filter coefficient 1～3000 1000 S
The maximum deceleration time
PA51 0～30000 50 ms P, S
before the safety brake enabled
PA52 Servo lock delay time 0～30000 50 ms P, S
Motor speed when safety brake is
PA53 5～3000 30 r/min P, S
enabled
PA54 Inner enable 0～1 0 P, S
PA55 Reserved
PA56 Reserved
PA57 Motor overheat alarm shielded 0～2 0 P, S
PA58 GSKLINK servo axis number 1～5 1 P, S
GSKLINK communication baudrate
PA59 0～4 1 P, S
selection
88
The default settings of shaded parameter are related to the motor models; therefore, the
default values vary with motors.
7.2 Parameter Description
Default Applicable
Para. Name Range Unit
Value Mode
Password 0～9999 315 P, S
PA0 When PA=315, parameters other than PA1,PA2 are modifiable; To modify PA1, it is
needed to set PA0 to 385.
Motor model code 0～185 0 P, S
PA1 Set the model code of the drive motor according to Motor Model Code List (see APPENDIX
A for details), then the default values of the motor can be restored.
Do not modify this default value in general condition.
PA2 Software version (read only) \ 105 P, S
Monitoring setting at initialization 0～33 0 P, S

Monitoring Monitoring
Value setting at Instruction Value setting at Instruction
initialization initialization
PA3=0 Motor speed PA3=17 Reserved
Current motor
position Servo unit
PA3=1 PA3=18
low-order 5 digits working status
(pulse)
Current motor
position
PA3=2 PA3=19 Alarm display
high-order 5 digits
PA3
×100000 (pulse)
Position
command
PA3=3 PA3=20 Reserved
low-order 5 digits
(pulse)
Position High-speed
command segment
PA3=4 PA3=21
high-order 5 digits voltage
×100000 (pulse) sampling value
Position Low-speed
difference segment
PA3=5 PA3=22
low-order 5 digits voltage
(pulse) sampling value
89
Para Monitoring Monitoring

. Value setting at Instruction Value setting at Instruction
initialization initialization
Position
difference
Software
PA3=6 high-order 5 PA3=23
version No.
PA3 digits ×100000
(pulse)
Hardware
PA3=7 Motor torque PA3=24
version No.
PA3=8 Motor current PA3=25 Rated torque
PA3=9 Reserved PA3=26 Rated current
Current control Rotational
PA3=10 PA3=27
mode inertia
Position
PA3=11 command pulse PA3=28 Input power
frequency
Radiator
PA3=12 Speed command PA3=29
temperature
Torque
PA3=13 PA3=30 DC bus voltage
command
Motor Single-ring
PA3=14 one-rotation PA3=31 position
signal position
Absolute
Input terminal
PA3=15 PA3=32 position low
status
order digits
Absolute
Output terminal
PA3=16 PA3=33 position high
status
order digits
The shaded items in this table are just for the motor with absolute encoder.
90
Continued:
Relevant Default Applicable
Name Range Unit
Parameter Value Mode
Working mode selection 0～6 0 P, S
PA4=0: position mode (mode 1);
Digital pulses determine the rotation direction and angle. The servo unit makes the
rotor rotates in the determined direction and at specified angle. In position mode,
the rotation angle (position) and speed are controllable.
PA4=1: External analog voltage specifies speed (mode 2);
The rotation direction and speed are determined by the analog voltage. The servo
unit makes the rotor rotates in the determined direction and speed. This mode not
only improves the motor response capability, but also enhances the capability of
anti-disturbance.
PA4=2: Internal digit specifies speed (mode 3);
PA4 The values of PA24~PA27 set by user are used as speed command. The motor
running speed is selected through the combination of input point SC1 and SC2’
status.
PA4=3: Manual mode (mode 4)
It is operated in Sr— menu. Acceleration/deceleration can be performed through
keys or .
PA4=4: JOG mode (mode 5);
It is operated in Jr—menu. The motor works at the JOG speed set by parameter.
CCW/ CW rotation can be selected through keys or .

PA4=5: Encoder zeroing. (It is adjusted already.)
PA4=6: Analog zeroing (it is adjusted already.)
Speed loop proportional gain 5～2000 200 Hz P, S
PA5 The bigger the speed loop proportional gain, the greater the servo rigidity is.
However, excessive value may easily lead to vibration (abnormal sound in the
motor) during motor start or stop. The smaller the value is, the slower response is.
Speed loop integral time
50～4000 100 P, S
coefficient
The greater the speed loop integral time constant value is, the quicker the system
PA6
responds. However, excessive value may lead to instability of the system, or even
cause vibration. Smaller value results in slower response, so, set the value as great
as possible on condition that no vibration is generated.
Current command low pass
1～4000 1000 ms P, S
filter
PA7
It is used to limit the current command belt, and avoid current rush and vibration.
Set the value as great as possible on condition that on vibration is generated.
Speed feedback filter
10～4000 1000 P, S
coefficient
PA8 The greater the speed feedback filter coefficient is, the quicker the speed feedback
responds. However, excessive value may lead to electromagnetic noise. Smaller
value results in slower response, larger speed fluctuation, or even vibration.
91
Name Range Unit
Position loop proportional
20～1000 40 1/s P
gain
The greater the position loop proportional gain is, the quicker the response is and
PA9
the greater the rigidity is. However, excessive value may lead to vibration during the
motor start or stop. Smaller value results in slower response and greater following
error.
Position loop feedforward
0～100 0 % P
gain
Position loop feedforward gain is to adjust the speed loop according to the speed
PA10 information of position command. The greater the value is, the quicker the response
is, and the smaller the following error is. However, excessive setting value may lead
to instantaneous overshoot and vibration. When PA10 is set to 0, the position
feedforward function is invalid.
Position loop feedforward
10～3000 2000 Hz P
filter coefficient
Position loop feedforward filter coefficient is used in the smoothing process of
PA11
position command feedforward control. The greater the value is, the quicker the
step response is, which will suppress the overshoot and vibration caused by
sudden speed change. It is valid when PA10 is not set to 0.
PA12 1～32767 1 P
multiplying ratio
1～32767 1 P
PA13 frequency division ratio
Refer to section 6.4.1 Electronic Gear Ratio for details.
Position command mode
0～2 0 P, S
selection
Position command pulse input mode:
PA14 PA14=0: pulse + direction
PA14=1: CCW /CW pulse input
PA14=2: AB phase orthogonal pulse input;
Refer to section 3.3.3 Position Command Input for details.
Position command direction
0～1 0 P
reversed
PA15
PA15=0: remains the original commanded direction;
PA15=0: the input pulse direction is reversed.
PA16 Position reach range 0～30000 20 Pulses P
92
Name Range Unit
When the position following

error (displayed as DP-EPO
in the menu) is less than or
equal to the setting value of
PA16, it means the position
Position excess error

0～30000 400 P
detection range
PA17
In position mode, when the position following error exceeds the value set by
parameter PA17, servo unit issues an alarm.
Position excess error
0～1 0 P
detection validity selection
PA18
PA18＝0: Detects the position excess error alarm;
PA18＝1: does not detect for the excess error alarm;
Analog speed
0～1 0 S
command inverted
On the condition that the external analog voltage is -10~10V (PA46=0),
PA19=0: when analog voltage is positive, motor CCW rotation is performed; when
negative, motor CW rotation is performed.
PA19=1: when analog voltage is negative, motor CCW rotation is performed; when
PA19
negative, motor CW rotation is performed.
On the condition that the external analog voltage is 0~10V (PA46=1):
PA 19=0: when SC1 is ON, motor CCW rotation is performed; when SC2 is ON,
motor CW rotation is performed;
PA=1: when SC1 is ON, motor CW rotation is performed; when SC2 is ON, motor
CCW is performed.
Drive unit input
prohibition validity 0～1 1 P, S
selection
PA20 PA20=0: when FSTP is OFF, the motor forward rotation is prohibited; when RSTP is
OFF, the motor reverse rotation is prohibited;
When FSTP, RSTP are OFF at the same time, Err-7 occurs.
PA20=1: drive unit prohibit function is invalid.
JOG running speed -3000～3000 120 r/min S
PA21
Set the speed in JOG running (Jr) mode. The running mode is selected by PA4.
Position feedback
0～1 0 P, S
output inverted
PA22
Change the phase relationship between PA, PB in position feedback output signal,
so as to meet the requirement of PC.
93
Name Range Unit
PA22=0: maintain the original relationship in CN1 position feedback output signal;
PA22=1: invert the relationship between phases PA, PB in position feedback output
signal. Shown is the following figure:
Maximum speed limit 1～4000 2500 r/min P, S

Limit the maximum running speed of servo motor. In analog command speed control
PA23 mode, when PA23≥PA29×10, the maximum speed is set by PA29; when
PA29×10≥PA23, the maximum speed is set by PA23.
Note: PA29 specifies the rotation speed per analog command voltage (1V).
Internal speed 1~4 -3000～3000 r/min S
In internal digital command speed mode, the parameters which set the speed are
selected by combination of servo unit input points SC1, SC2.
PA24～ SC2 SC1 Internal Speed Default Value
PA27 OFF OFF Internal speed 1 (PA24) 500
OFF ON Internal speed 2(PA25) 2000
ON OFF Internal speed 3(PA26) -1000
ON ON Internal speed 4(PA27) -1500
Speed arrival signal
0～3000 50 r/min S
output valve value
PA28
When the absolute value of actual speed is equal to or greater than the valve value,
the speed arrival signal COIN is output.
Analog input gain 0～400 250 S

PA29 This value is the motor speed per analog voltage; When the motor rated speed
corresponding to 10V is 2500r/min, this value is set to 250.
Position output pulse
1～32 1 S
multiplying ratio
When the incremental encoder is used, it sets the pulses of position feedback signal
PA30 (PA+, PA-, PB+, PB-) output from servo unit. When the closed-loop system is
formed, the position feedback signal output from CN1 interface to PC is converted
into electronic gear ratio, so as to adapt to devices with different gear ratio or to
different leadscrew. Refer to section 6.4 for details.
Position output
1～32 1 S
frequency division ratio
PA31
Refer to PA30 for the usage of this parameter. The setting of gear ratio requires
PA31≥PA30. If PA31<PA30, it is regarded as PA31=PA30.
94
Name Range Unit
Position feedback
signal frequency 16～32767 20000 P,S
PA32 division ratio
When the absolute encoder is used, it sets the pulses feedbacked from the drive
unit to PC per circle the motor rotates. Refer to section 6.4 for details.
Internal CCW torque
0～300 300 % P,S
limit
It sets the internal torque limit when the servo motor performs CCW rotation. The
PA34 setting value is the percentage of the rated torque. In any working mode, both two
torque limit are valid. When the setting value exceeds the system permitted
overload capacity, the actual torque limit is the magnification of permitted maximum
overload.
Internal CW torque limit -300～0 -300 % P,S
It sets the internal torque limit when the servo motor performs CW rotation. The
PA35 setting value is the percentage of the rated torque. In any working mode, both two
torque limit are valid. When the setting value exceeds the maximum overload
capacity, the actual torque limit is the permitted maximum overload magnification.
External CCW torque limit 0～300 100 % P,S
It sets the external torque limit when the servo motor performs CCW rotation. PA36
PA36 is valid only when the input point FIL is ON; When the setting value exceeds the
maximum overload capacity, the actual torque limit is the permitted maximum
overload capacity.
External CW torque limit -300～0 -100 % P,S
It sets the external torque limit when the servo motor performs CW rotation. PA37 is
PA37 valid only when the input point RIL is ON; When the setting value exceeds the
maximum overload capacity, the actual torque limit is the permitted maximum
overload capacity.
Torque limit in MANUAL,
0～300 100 % S
JOG mode
PA38 It sets the torque limit when the servo is in MANUAL or JOG mode. When the
setting value exceeds the maximum overload capacity, the actual torque limit is the
permitted maximum overload capacity.
Analog command zero
-30000～30000 0 0.1r/min S
drift compensation
Sometimes, when the command voltage is 0V, the motor still rotates at slowest
PA43
speed. This is due to the slight “drift” of the PC or external command voltage. If
zero-drift phenomenon occurs on a motor, count in the reversed voltage value in
PA43.
Analog command mode
0～1 0 S
selection
PA46 PA46=0: When PA4=1 (external analog voltage speed control mode), and the input
analog range is -10V~10V, positive voltage corresponds to motor CCW rotation,
negative voltage corresponds to motor CW rotation.
95
Name Range Unit
PA46=1: When PA4=1 (external analog voltage speed control mode), and the input
analog range is 0V~10V, the input points SC1, SC2 are for the CCW, CW rotation
respectively.
Alarm output inverted 0～1 0 S
PA47=0: when servo unit is faulty, the alarm signal ALM output opto-coupler is
PA47
disconnected.
PA47=0: when the servo unit is faulty, the alarm signal ALM output opto-coupler is
connected.
Analog command filter
1～3000 1000 HZ
coefficient
The smaller the analog command filter coefficient value is, the stronger the
PA50
anti-disturbance capability is. However, when the value is too small, the response
to the speed command will be slower; the greater the value is, the weaker the
anti-disturbance capability is, and the quicker the response is.
The maximum deceleration
time before the safety brake 0～30000 50 ms P,S
enabled
PA51 When it is needed to lock a running motor through safety brake, deceleration should
be performed in advance. The deceleration time is set by PA51. If the motor speed
exceeds the speed set by PA53 when the time ends, the motor axis is locked by
force. Refer to section 6.2 for details.
Servo lock delay time 0～30000 50 ms P,S
When the safety brake is needed to lock the motor, the SON signal should be
PA52 turned OFF after the motor stops. In the process of status transition from servo lock
to safety brake lock, the safety brake is enabled only after the delay time set by
PA52 ends. The position of motor axis does not change. Refer to section 6.2.
Motor speed when safety
5～3000 30 r/min P,S
brake is enabled
PA53
The maximum rotation speed when the safety brake is enabled; Refer to section
6.2.
Inner enable 0～1 0 P, S
PA54 When there is no SON signal, the motor is enabled through the servo inner.
PA54=0: when the external input signal SON is ON, the motor is enabled.
PA54=1: the motor is enabled through the servo inner rather than signal SON.
Motor overheat alarm
0～2 0 P,S
shielded
PA57=0: shield alarm
PA57 PA57=1: comply with the alarm logic, namely, the motor temperature detection
switch is normally-closed switch
PA57=2: comply with the alarm logic, namely, the motor temperature detection
switch is normally-open switch
PA58 GSKLINK servo axis number 1～5 1 P,S
96
Name Range Unit
The servo unit which sets up serial communication with CNC system is more than
one. Set the servo axis number corresponding to CNC system. The number should
not be repeated.
GSKLINK communication
0～4 1 P,S
baudrate selection
Set the communication baudrate of servo drive unit and PC. Only when the
baudrates are consistent, can the communication be performed.
PA59=0: Shield GSKLink communication;
PA59
PA59=1: baudrate is set to 500k;
PA59=4: baudrate is set to 1M.
97
CHAPTER 8 ABNORMALITIES AND REMEDIES
8.1 Abnormalities Caused by Misuse
8.1.1 Speed Mode
Abnormality Possible Reason Inspection and Remedy

1. Wrong working mode is Check the setting of PA4.
selected.
In analog command 2. No enable signal is input. Check whether the SON connection is
speed mode, the
correct. Check to see
motor does not work
whether the enable signal is connected,
when a speed
or set PA54 to 1, to enable the motor by
command is
force.
specified.
3. No 24V for the I/O Check whether the GND and COM+
connection line. ends are 24V with a universal meter.
1. Improper speed loop gain Restore the motor default parameter or

Large vibration
setting manually set the PA5, PA6, PA7, PA8.
occurs when the
2. Incorrect shielding line Connect the line connection according to
motor is running. (no
connection the connection diagram in speed mode
load connected)
described in section 3.6.
There is no temperature A. When there is no temperature sensor,
Alarm Err-5 occurs sensor in the servo motor, or set PA57=0;
after power-on the PA57 sets the sensor type B. When there is temperature sensor, set
incorrectly. the PA57 according to section 7.2.
FSTP, RSTP drive unit input A. Check whether the FSTP, RSTP is
Alarm Err-7 occurs prohibition terminals are OFF. connected to COM-.
after power-on B. When the prohibition function is not
used, set PA20 to 1 to shield this alarm.
Parameter PA23 or PA29 is Refer to section 7.2 and set the
Motor high-speed
set incorrectly. parameter according to the motor
running disabled
nameplate.
Parameters PA51, PA52, Refer to section 7.2 and increase the
Motor cannot stop PA53 are set incorrectly. setting value of PA51, PA52, reduce that
of the PA53.
98
Chapter 8 Abnormalities and Remedies
8.1.2 Position Mode
Abnormality Possible Reason Inspection and Remedy
1. Wrong working mode or Check the setting of PA4, PA14.

command mode is selected.
In position mode,
2. No enable signal is input. Check whether the SON connection is
when a pulse
command is correct. Check to see
specified, the whether the enable signal is
motor does not connected, or set PA54 to 1 to enable
work. the motor by force.
3. No 24V for the I/O connection Check whether the GND and COM+
line. ends are 24V with a universal meter.
Speed loop proportional gain, Restore the default motor parameter
Large vibration integral time constant value are or manually set the parameters PA5,
occurs when the set incorrectly; (PA5, PA6) PA6, PA9.
motor is running. Position loop proportional gain is
set incorrectly. (PA9).
1. Electronic gear ratio is set Correct the electronic gear ratio.
incorrectly.
2. External interference causes When the command pulses are less
the received pulses inaccurate. than pulses displayed on , it
means there is external interference.
A. Use difference circuit as far as
possible;
B. Connect the shielding line
correctly.
C. Keep far away from the
interference source.
Inaccurate
3. When the pulse command is Refer to the position command wiring
position control
input (the drive unit is connected diagram.
to single end), the current-limit
resistance is not connected in
series.
4. Machine connection fault When the command pulses equal to
the pulses displayed on (the
pulses after electronic gear ratio
calculation), it means the system
controlled side is normal. Check
whether the machine connection is
loose or faulty.
The motor swings The load inertia is great. The Increase the acceleration/deceleration
greatly during acceleration/deceleration time time for smooth start or stop, or
start or stop. corresponding to PC commands reduce the position loop proportional
are too small. gain.
99
8.2 Alarms and Remedies
The servo drive unit is provided with multiple protection functions. When a fault is detected after
power-on, the servo will stop the motor, and will be displayed on the operation panel.
The alarm code can also be viewed under menu . This section also offers remedies for
troubleshooting.
No. Meaning Main Reason Remedy

Err-1 AC current motor 1, encoder feedback signal Check the motor encoder and its
speed exceeds the abnormal signal connection status.
value set by PA23
2. The specified command exceeds Check the electronic gear ratio
(refer to the speed
the limit set by PA23. and PA23 setting.
upper limit set by
parameter PA23)
Err-2 Main circuit DC bus 1. Braking resistor is disconnected Check braking resistor and its
voltage excessive or damaged. connection.
2, Braking resistor is unmatched A, Change to a new braking
(resistance value is excessive) resistor whose resistance is
Note: Smaller resistance means matched with the power.
greater current, which will easily B, Reduce the ON/OFF
cause damage to the braking pipe frequency according to actual
of the braking circuit. usage.
3, Power supply voltage instable; Check the power supply.
4. Internal braking circuit damaged. Change the drive unit.
Err-3 Main circuit DC bus 1．If it occurs when the motor is Check the input power line
voltage too low running, the line of input power is
cut off or the connection is
improper.
2. If it occurs when the motor is Check the power voltage
running, it means the input power
voltage is lower than AC130V.
3. If it occurs when the power is Change the drive unit
turned ON, it means the braking
transistor of drive unit is damaged.
Err-4 The value in position 1. The pulse command frequency is Check the command frequency
difference counter too high or the electronic gear ratio of principal PC; check the
exceeds the setting is too large. electronic gear ratio set by
value (refer to the PA12/PA13.
100

range set by 2. The load inertial is excessive or A, Check the setting of motor
parameter PA17); the drive unit torque is insufficient. torque limit.
(When PA18=0, B, Improve the drive unit and
detects the position motor power.
difference alarm, C, Lighten the load.
when PA18=1, does 3. Motor encoder fault or encoder A, Check the motor encoder and
not detects the zeroing error. its connection.
position difference B, re-zeroing the encoder.
alarm) 4. In position mode, the motor U, V, Correct the connection.
W phase sequence is wrong.
5. position loop or speed loop gain Adjust the speed loop or position
setting is too small (refer to loop gain.
parameter PA5, PA6, PA9)
6. The valid range of position Set the PA17 correctly.
difference is set too small.
Err-5 Motor overheat alarm; 1. No temperature detection device Set PA57=0, shield the motor
the drive unit detects in the motor. overheat alarm.
the overheat alarm 2. The temperature detection Set the temperature detection
signal output by the device type is different with the one device type correctly by PA57.
motor. (when set by parameter PA57.
PA57=0, the motor 3. Overload leads to severe heat of Increase the power of drive unit
overheat alarm is not the motor. or reduce the load.
detected) 4. In case of severe load, the Reduce the start/stop frequency,
start/stop frequency is too high. and improve the heat radiation
condition.
5. The temperature detection Change the AC servo motor.
device in the motor is damaged, or
the motor inner fault occurs.
6. If the motor temperature Change the drive unit.
detection signal is normal, the drive
unit is faulty.
Err-6 Speed amplifier 1. Insufficient motor rigidness due Increase the toque limitation
saturation fault to small torque limitation. value so as to increase the
rigidness.
2. In speed mode, U, V, W phase Connect the U, V, W correctly.
sequence is reversed.
Err-7 Drive prohibition The drive prohibition input terminal A. Check the connection and the
abnormal terminals FSTP, RSTP are cut 24V power of input point.
OFF.
Err-9 Motor encoder signal 1. Then motor encoder signal is Check the connection and signal
feedback abnormal poor connectedly or the connection line welding status.
is wrong.
101

2. Motor encoder signal feedback Shorten the cable length within
cable is too long, which reduces the 30m.
signal voltage.
3. Motor encoder is damaged. Change the motor or encoder.
4. Drive unit fault. Change the drive unit.
Err-11 Drive unit inner IPM 1. It occurs when the power is ON, Remedy for reason A is to
module fault and the drive unit is not enabled. It change to a new drive unit.
cannot be removed after power-on. Remedy for reason B is to check
A, drive unit fault the correct the braking resistor
B, Short circuit occurs when connection.
braking resistor terminal is
grounding
2. It occurs when the power is ON, It may be caused by external
and the drive unit is not enabled. It interference or poor grounding.
is removed after power-on again. Check the grounding status and
interference source.
3. It occurs when the power is The remedy for reason A is to
turned ON, and the drive unit is change the motor line or the
enabled. It cannot be removed after motor.
power-on. The remedy for reasons B, C is
A. short circuit occurs among motor to change the drive unit.
power line U, V, W, or between U,
V, W and PE.
B. Drive unit IPM module is
damaged.
C. Current sampling circuit of drive
unit is cut off.
4. It occurs when the motor is The remedy for reason A is to
starting or stopping and it can be recover the motor default
removed after power-on. parameter.
A, The default parameter of the The remedy for reason B is to
motor set by drive unit is wrong. increase the
B. Then load inertial is too large, acceleration/deceleration time,
the commanded accelerated speed lower down the accelerated
is too large when starting or speed or load inertial.
stopping.
Err-12 Overcurrent alarm 1. The motor is running with Reduce the load or change a
excessive torque for a long time. higher power motor.
2. Poor grounding status Make sure the grounding
resistance is less than 10Ω.
3. The insulation is faulty. Change a new motor.
102

Err-14 Braking circuit fault 1. The braking circuit is low in A. Reduce the load.
capacity. B. Change to a new drive device
of higher power.
C, Lower down the braking
frequency.
2. Then inner braking circuit is Change to a new drive unit.
damaged.
3. Braking resistor is cut off. Re-connect the braking resistor
line.
Err-16 Motor thermal 1. The rated current parameter is Set the parameter according to
overheat set incorrectly. the motor nameplate.
2. The motor is running with excess A. Reduce the load.
current for a long time. B. Change to a drive device and
motor of higher power.
C Check whether the
mechanical part is abnormal.
Err-20 When the power is 1. When the power is ON, the drive Recover the motor default
ON, EEPROM alarm unit fails to read the data in parameter.
occurs in the inner EEPROM.
driver unit. 2, EEPROM chips or circuit board Change the servo drive unit.
fault;
Err-21 Power open-phase Power open phase occurs. Check the input power.
alarm
Err-23 Current sampling 1. The current sensor’s working Change the drive unit.
error voltage is abnormal or the device is
damaged.
2. Current sampling circuit resistor
is damaged.
Err-25 Power failure alarm 1. The main power is cut OFF after
Check the power supply line.
it is ON.
2. The rectification part of the drive
Change the drive unit.
unit is damaged.
1. Then interface is poorly Check the encoder interface and
contacted or the cable is poorly shielding line.
Illegal code of shielded.
Err-32 encoder signals
U,V,W 2. Encoder U,V,W signals are Chang a new encoder.
damaged.
3. Encoder interface circuit fault. Change to a new drive unit.
Err-33 Power charging fault The charging circuit is damaged. Change the drive unit.
Err-34 Pulse electronic gear The parameter setting of pulse Set the PA12/PA13 correctly.
ratio electronic gear ratio is irrational.
Err-35 Alarm for the absence The external brake pipe is loose, or
of external brake pipe the external brake pipe is faulty. Re-connect the brake pipe, or
change the brake pipe.
103

Err-36 Three-phase main 1. The three-phase power is OFF or Check the main power and
power OFF voltage dip. ensure the three-phase AC220V
input.
2. The power detection circuit is Change the drive unit.
faulty.
Err-37 Alarm occurs when The environmental temperature is Improve the environmental
the temperature of too low. temperature.
radiator is below
-30℃.
Err-38 Alarm occurs when 1. The motor overload running for a Reduce the load.
the temperature is long time.
higher than 75℃. 2. The environmental temperature Improve the ventilation condition.
is too high.
3. The drive unit is damaged. Change the drive unit.
Err-39 Data read error in 1. PA1 parameter setting error; Set the value of PA1 according
sensor mode of to the matched encoder type of
absolute encoder the motor, then, adjust to the
default value.
2. Encoder feedback signal CN2 is Check the CN2 line connection
disconnected or poorly connected. status.
3. The absolute encoder is Change the motor.
damaged.
Err-41 Encoder type The encoder type set by the drive Change the encoder or change
configuration error unit is inconsistent with the actual the encoder type of drive unit.
type.
Err-42 EEPROM error read 1. PA1 parameter setting error. Set the value of PA1 according
in absolute encoder to the matched encoder type of
the motor, then, adjust to the
default value.
2. When the power is ON, the drive Check the CN2 line connection
unit reads encoder EEPROM error. status.
3. Motor encoder EEPROM is Change the motor.
damaged.
Err-43 Check error when 1. PA1 parameter setting error; Set the value of PA1 according
EEPROM is read to the matched encoder type of
the motor, then, adjust to the
default value.
2. After the drive unit reads the Execute the Ab-Set encoder
encoder EEPROM, data check write operation.
error occurs.
Err-44 Encoder PA1 parameter setting error; Set the value of PA1 according
single-ring/multi-ring to the matched encoder type of
configuration error the motor, then, adjust to the
default value.
104

Err-45 Encoder data check In sensor mode, data check error Check the grounding status.
error occurs when the encoder current
position is read.
8.3 Inspection and Maintenance
Category Item Period Daily Maintenance

Abnormal odor Every day Properly eliminate the odor in time. If it is
caused by aging equipment, make a
replacement.
Electric Dust, vapor and Once every Remove it with dry clean cloth or filtered
cabinet oil month at least high-pressure air gun.
environment Power cable, Once every When the external insulation layer and
connection half-year at least insulation joints are damaged or aging,
terminals make a replacement soon; tighten the
loose connection terminals with screw
driver.
Radiation fan Once every week Check whether the wind speed and
at least ventilation amount is normal, and whether
the abnormal heating exists. Change the
fan if any.
Servo unit
Dirt retention on Once every Remove it with dry clean cloth or filtered
cooling plate month at least high-pressure air gun.
Loose screw Once every Tighten the terminal strip, connector, and
half-year at least installation screw with screw driver.
Noise, vibration Every day When the noise or vibration is obviously
greater than usual, check the machine
connection and repair it.
Dust, vapor and Once every Remove it with dry clean cloth or filtered
oil month at least high-pressure air gun.
Servo motor
Measure the Once every Measure it with a 500V resistance meter.
insulation half-year When the resistance is below 10 MΩ,
resistance please contact our technical personnel.
Motor and load Once every Check the device wear status, connection
connection half-year and sundries with proper tools.
105
APPENDIX A MODEL CODE PARAMETERS AND FEED

SERVO MOTOR TABLE
Model Code Model Code

Servo Motor Model Servo Motor Model
(set by PA01 ) (set by PA01 )
3 130SJT-M075D(A) 49 130ST-M10015H
4 130SJT-M100D(A) 50 130ST-M10025H
5 110SJT-M040D(A) 51 130ST-M15015H
6 110SJT-M060D(A) 60 150ST-M27020H
7 130SJT-M050D(A) 65 80SJT-M024C
8 130SJT-M100B(A) 66 80SJT-M024E
9 130SJT-M150B(A) 67 80SJT-M032C
10 110SJT-M020E 68 80SJT-M032E
11 110SJT-M040D 76 110SJT-M040E(A2)
12 110SJT-M060D 77 110SJT-M060E(A2)
13 130SJT-M040D 81 130SJT-M150D(A)
14 130SJT-M050D 82 130SJT-M040D(A)
15 130SJT-M060D 83 130SJT-M060D(A)
16 130SJT-M075D 85 130SJT-M040D(A2)
17 130SJT-M100D 86 130SJT-M050D(A2)
18 130SJT-M100B 87 130SJT-M060D(A2)
19 130SJT-M150B 88 130SJT-M075D(A2)
20 130SJT-M150D 89 130SJT-M100D(A2)
21 130SJT-MZ150B 90 130SJT-M100B(A2)
22 175SJT-M180B 91 130SJT-M150B(A2)
23 175SJT-M180D 92 130SJT-M150D(A2)
24 175SJT-M220B 93 175SJT-M180B(A2)
25 175SJT-M220D 94 175SJT-M180D(A2)
26 175SJT-M300B 95 175SJT-M220B(A2)
27 175SJT-M300D 96 175SJT-M220D(A2)
34 110ST-M02030H 97 175SJT-M300B(A2)
35 110ST-M04030H 98 175SJT-M300D(A2)
36 110ST-M05030H
39 130ST-M04025H
45 130ST-M05025H
46 130ST-M06025H
47 130ST-M07720H
106
Appendix A
Model Code Model Code

Servo Motor Model Servo Motor Model
(set by PA01 ) (set by PA01 )
The model codes listed below are corresponding to absolute encoder.
104 80SJT-M024C(A4I) 148 130SJT-M100B(A4I)
105 80SJT-M024C(A4SI) 149 130SJT-M100B(A4SI)
106 80SJT-M024E(A4I) 150 130SJT-M100D(A4I)
107 80SJT-M024E(A4SI) 151 130SJT-M100D(A4SI)
108 80SJT-M032C(A4I) 152 130SJT-M150B(A4I)
109 80SJT-M032C(A4SI) 153 130SJT-M150B(A4SI)
110 80SJT-M032E(A4I) 154 130SJT-M150D(A4I)
111 80SJT-M032E(A4SI) 155 130SJT-M150D(A4SI)
122 110SJT-M040D(A4I) 168 175SJT-M150D(A4I)

123 110SJT-M040D(A4SI) 169 175SJT-M150D(A4SI)
124 110SJT-M040E(A4I) 170 175SJT-M180B(A4I)
125 110SJT-M040E(A4SI) 171 175SJT-M180B(A4SI)
126 110SJT-M060D(A4I) 172 175SJT-M180D(A4I)
127 110SJT-M060D(A4SI) 173 175SJT-M180D(A4SI)
128 110SJT-M060E(A4I) 174 175SJT-M220B(A4I)
129 110SJT-M060E(A4SI) 175 175SJT-M220B(A4SI)
176 175SJT-M220D(A4I)
140 130SJT-M040D(A4I) 177 175SJT-M220D(A4SI)
141 130SJT-M040D(A4SI) 178 175SJT-M300B(A4I)
142 130SJT-M050D(A4I) 179 175SJT-M300B(A4SI)
143 130SJT-M050D(A4SI) 180 175SJT-M300D(A4I)
144 130SJT-M060D(A4I) 181 175SJT-M300D(A4SI)
145 130SJT-M060D(A4SI) 182 175SJT-M380B(A4I)
146 130SJT-M075D(A4I) 183 175SJT-M380B(A4SI)
147 130SJT-M075D(A4SI)
107
APPENDIX B PERIPHERAL EQUIPMENTS
B. 1 External Braking Resistor (Optional)
①. Braking resistor model instruction:
②. Braking resistor dimension:
Dimension (mm) Lead

Specification Wiring
Servo Unit Length Terminal
(W/Ω) A B C D (mm2)
(m)
DAT2030C 300/30 215 205 60 30 2.5 1 M5
DAT2050C 500/22 335 325 60 30 2.5 1 M5
DAT2075C 1000/15 420 410 61 59 2.5 1 M5
DAT2100C 1500/10 485 473 50 107 2.5 1 M5
③. Braking resistor installation space
108
Appendix B
B. 2 Circuit Breaker and Contactor (Necessary)
Circuit breaker and contactor should be installed between input power and AC servo unit. They
are not just the power switch of servo unit but also a protection method of the power.
z Circuit breaker is a protection switch which can cut off the faulty circuit automatically. It can
protect the circuit in case of overload, short circuit or undervoltage. To fully exert the servo
unit overload capability, it is advised to choose the power distribution protection circuit
breaker.
z AC contactor is to control the ON/OFF of the drive unit through electric protection circuit. It
can cut off the power once a system fault is detected, so as to prevent the fault from
expanding.
The following technical data table is for your consideration.
Servo Unit DAT2030C DAT2050C DAT2075C DAT2100C
Motor current (A) ＜6 6～10.5 11～21 22～28

Rated current of
circuit breaker 6 9 20 25
(AC380V)
Rated current of
contactor 9 15 30 42
(AC220V)
109
B.3 Three-Phase AC Filter (Recommended)
Three-phase AC filter is a passive low-pass filter. The frequency range is 10kHz～30MHz. It is

used to suppress the high-frequency noise from the power end of servo unit. When other equipments
are interfered by this noise, the three-phase AC filter is recommended.
The following technical data table is for your consideration.
0.5～1.2 1.5～2.3 2.3～3.9 4～6
Motor Power (kw)
Rated Current (A) 9 15 30 42
Rated Current (V) 220
Leakage Current (mA) ≤0.5 ≤0.5 ≤0.5 ≤0.5
Cautions for filter installation:

¾ Make sure the metal shell of the filter and electric cabinet is well connected and grounded.
¾ There should be a certain distance between filter input and output lines (parallel connection is
forbidden) in case that the effectiveness of the filter is reduced.
¾ The filter should be installed at the entrance of power line to the device, and the filter input line in
the cabinet should be as short as possible, so as to lower down the radiation interference.
B.4 Isolation Transformer (Necessary)
It is used to reduce interference of power and electromagnetic field. The type should be selected
according to the rated capacity, load rate and duty cycle.
①. When servo motor power ≥1kW, three-phase isolation transformer should be adopted;
When single axis is used, it is advised to select the capacity of isolation transformer ≥ servo motor
power × 80％(70%~100% are available).
②. When more than two axes are used, it is advised to select the capacity of isolation transformer ≥
servo motor power × 70％ (60%~80% are available).
Table B-1 Specification of isolation transformer

Input Output
Model Capacity (kVA) Phase
voltage (V) voltage (V)
BS-120 1.2
BS-200 2.0
Three-phase
BS-300 3.0
380 220
BS-400 4.0
BD-80 0.8
Single-phase
BD-120 1.2
The following drawings show the dimensions of isolation transformer. (unit: mm)
110
Appendix B
Fig. B-1 Outline dimension of BS-120
111
112
Appendix B
Fig. B-5 Outline dimension of BD-80
Fig. B-6 Outline dimension of BD-120
113
APPENDIX C VERSION UPGRADE INSTRUCTION
The parameters described in this manual can be applied for DAT2000 Series V1.05 Version and
DAT 2000C Series V1.01 Version (version can be viewed through PA2). The DAT2000 Series V1.05
is issued for the first time; DAT2000C Series V1.05 is adjusted version based on DAT2000C V1.03.
z Parameters upgrade instruction:

No. Parameter Meaning (V1.03) Parameter Meaning (V1.05)
Software version (default value is
PA2 Software version (default value is 105)
103)
PA6 Speed loop integral time constant Speed loop integral time coefficient
PA19 Reserved Analog speed command inverted
Encoder zero point signal (CZ)
PA22 Pulse feedback output inverted
output position
PA29 Zero speed output valve value Analog input gain
PA30 Reserved Position output pulse multiplying ratio
Position output pulse frequency
PA31 Reserved
division coefficient
PA32 Reserved Drive unit feedback pulses
PA42 Analog command mode selection Reserved
PA45 Analog speed command inverted Reserved
PA46 Analog command filter coefficient Analog command mode selection
PA47 Analog input gain Alarm output inverted
PA49 Inner enable Reserved
PA50 Reserved Analog command filter coefficient
PA51 Alarm output inverted
PA52 Reserved Servo lock delay time
PA54 Servo lock delay time Inner enable
PA55 Reserved
z Motor model upgrade instruction:

Servo Motor Model V1.03 Motor Model Code V1.05 Motor Model Code
80SJT-M024C(A4I) 4 104
80SJT-M024C(A4SI) 5 105
80SJT-M024E(A4I) 6 106
80SJT-M024E(A4SI) 7 107
80SJT-M032C(A4I) 8 108
80SJT-M032C(A4SI) 9 109
80SJT-M032E(A4I) 10 110
80SJT-M032E(A4SI) 11 111
114
Appendix C
V1.03 Motor Model V1.05 Motor Model

Servo Motor Model
Code Code
110SJT-M040D(A4I) 22 122
110SJT-M040D(A4SI) 23 123
110SJT-M040E(A4I) 24 124
110SJT-M040E(A4SI) 25 125
110SJT-M060D(A4I) 26 126
110SJT-M060D(A4SI) 27 127
110SJT-M060E(A4I) 28 128
110SJT-M060E(A4SI) 29 129
130SJT-M040D(A4I) 40 140
130SJT-M040D(A4SI) 41 141
130SJT-M050D(A4I) 42 142
130SJT-M050D(A4SI) 43 143
130SJT-M060D(A4I) 44 144
130SJT-M060D(A4SI) 45 145
130SJT-M075D(A4I) 46 146
130SJT-M075D(A4SI) 47 147
130SJT-M100B(A4I) 48 148
130SJT-M100B(A4SI) 49 149
130SJT-M100D(A4I) 50 150
130SJT-M100D(A4SI) 51 151
130SJT-M150B(A4I) 52 152
130SJT-M150B(A4SI) 53 153
130SJT-M150D(A4I) 54 154
130SJT-M150D(A4SI) 55 155
175SJT-M150D(A4I) 68 168
175SJT-M150D(A4SI) 69 169
175SJT-M180B(A4I) 70 170
175SJT-M180B(A4SI) 71 171
175SJT-M180D(A4I) 72 172
175SJT-M180D(A4SI) 73 173
175SJT-M220B(A4I) 74 174
175SJT-M220B(A4SI) 75 175
175SJT-M220D(A4I) 76 176
115
V1.03 Motor Model V1.05 Motor Model

Servo Motor Model
Code Code
175SJT-M220D(A4SI) 77 177
175SJT-M300B(A4I) 78 178
175SJT-M300B(A4SI) 79 179
175SJT-M300D(A4I) 80 180
175SJT-M300D(A4SI) 81 181
175SJT-M380B(A4I) 82 182
175SJT-M380B(A4SI) 83 183
116

GSK DAT2030 User Manual

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This user manual describes all items concerning the operation of

this CNC system in detail. However, it is impossible to give particular

Copyright is reserved to GSK CNC Equipment Co., Ltd. It is illegal

If the motor operates incorrectly, it will cause damage or death.

If the motor operates incorrectly, it will cause medium or slight

If this label is not noticed, unexpected result and situation will

Remind important requirements and instructions to user during the

It indicates prohibition (mustn’t do)

It indicates forced execution (must do)

When removing the cover on the terminal

This manual is kept by final user.

1.1 Basic Knowledge .................................................................................................................1

CHAPTER 2 INSTALLATION ........................................................................................................19

2.1 Servo Motor .......................................................................................................................19

Chapter 3 CONNECTION .................................................................................................................25

3.1 Connection of Peripherals..................................................................................................26

CHAPTER 4 DISPLAY AND OPERATION.......................................................................................54

CHAPTER 5 DEBUGGING AND OPERATION .............................................................................62

5.1 Manual and Jog operation .................................................................................................63

Chapter 6 FUNCTION DEBUGGING.............................................................................................73

6.1 Fundamental performance parameter debugging illustration.............................................73

CHAPTER 7 PARAMETERS .........................................................................................................87

7.1 Parameter List ......................................................................................................................87

CHAPTER 8 ABNORMALITIES AND REMEDIES ........................................................................98

8.1 Abnormalities Caused by Misuse .........................................................................................98

APPENDIX A MODEL CODE PARAMETERS AND FEED SERVO MOTOR TABLE.................106

APPENDIX B PERIPHERAL EQUIPMENTS ...............................................................................108

B. 1 External Braking Resistor (Optional).................................................................................108

APPENDIX C VERSION UPGRADE INSTRUCTION .....................................................................114

CHAPTER 1 PRODUCT INTRODUCTION

1.1 Basic Knowledge

¾ Basic principle of AC servo drive device

Fig.1-1 Main return current diagram of the AC servo drive unit

¾ Basic configuration of AC servo drive device

CNC ＋ Control Driving

Fig.1-2 Basic configuration of AC servo drive device

¾ General concept of control

Fig. 1-3 Open loop control

Fig. 1-4 Full-closed loop control

Fig. 1-5 semi-closed loop control

Position Speed Current

Fig. 1-6 Three-loop control diagram

¾ Servo performance index

Fig. 1-7 Servo dynamic reaction curve

Fig. 1-8 Position servo static curves

1.2 Confirmation of the Arrived Goods

Inspected Items Notes

Please check accessories according to packing list,

Check the general appearance of goods to ensure

Please check if there is any screw loose with

1.2.1 Instruction of Servo Motor Model

Fig. 1-9 Instruction of servo motor models:

130 SJT － M Z 150 D（A□ Y□ X□ ）

Machine model Non:Aviation sockettype

Zero-speed torque 2 Encoder type

#1：Working power of electricity-breaking brake: DC（0.9～1.1）×24V, interface: triax socket, 1,2

1.2.2 Instruction of Servo Motor Models Unit

Digital AC servo drive unit

Production No. of drive unit

DAT Series Selective Accessories