PREFACE

This user manual describes all proceedings concerning the operations

of the drive unit in detail as much as possible. However, it is
impractical to give particular descriptions for all unnecessary or
unallowable system operations due to the manual text limit, product
specific applications and other causes. Therefore, the proceedings not
indicated herein should be considered impractical or unallowable.

This user manual is the property of GSK CNC Equipment Co., Ltd. All
rights are reserved. It is against the law for any organization or
individual to publish or reprint this manual without the express written
permission of GSK and the latter reserves the right to ascertain their
legal liability.

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GSK CNC EQUIPMENT CO,. LTD

Dear user,
It’s our great pleasure for your patronage and purchase of this DAP01 AC Spindle Servo
Drive Unit made by GSK CNC Equipment Co., Ltd.

GSK PROFILE

GSK, GSK CNC Equipment Co,. Ltd, is the largest CNC system production and marketing
enterprise in China at present. It is the Numerical Control industrial base of South China and the
undertaking enterprise of the national 863 main project Industrialization Support Technology for
Medium Numerical Control System. It is also one of the 20 key equipment manufacture enterprises in
Guangdong province. It has been taking up the research and development, design and the manufacture
of machine CNC system (CNC device, drive unit and servo motor) in recent 10 years. Now it has
developed into a large high-tech enterprise integrated with technology, education, industry and trade by
enhancing the popularization and trade of CNC machine tools. There are more than 1400 staffs in this
company that involves 4 doctors, more than 50 graduate students and 500 engineers; more than 50
among these staffs are qualified with senior engineer post titles. The high performance-cost ratio
products of GSK are popularized in China and Southeast Asia. And the market occupation, the turnout
and sale of GSK’s product rank the top for successive 7 years among the same products in domestic
market from the year 2000 to 2006, which makes GSK the largest CNC manufacture base throughout
China.

The main products of GSK includes: the CNC systems and devices of GSK series turning machine,
milling machine, machining center, DA98, DA98A, DA98B, DA98D series full digital AC servo drive
unit, DY3 series compound stepper motor drive device, DF3 series responsive stepper motor drive
device, GSK SJT series AC servo motors, CT-L CNC slider and so on. The current national standard
(and international standard), industry standard, as well as the enterprise standard (or enterprise
internal standard) as a supplementary, are completely implemented in the production process. The
capability of abundant technology development and complete production and quality system qualified
by GSK will undoubtedly ensure the reliable products to serve our customers. 24~48 hours technological
support and service can be easily and promptly provided by GSK’s complete service mechanism and
tens of service offices distributed in China and abroad. The pursuit of “excellent product and
superexcellent service” has made GSK what it is now, and GSK will spare no efforts to continue to
consummate this South China CNC industry base and enhance Chinese national CNC industry by
GSK’s management concept of “century enterprise, golden brand”.

II
 PREFACE

PREFACE

The installation, wiring, running, debugging, maintenance for this DAP01 Full Digital AC
Spindle Servo Drive Unit are fully introduced in this manual. It will give you a complete
knowledge for using this drive unit effectively. And this manual also provides some
necessary knowledge and notes for using this drive unit. You must have a
comprehensive understanding on the notes about this drive unit before using it.

z All specifications and designs are subject to change without notice.

z We do not assume any responsibilities for the change of the product by user,
therefore the warranty sheet will be void for this change.
z Chinese version of all technical documents in Chinese and English languages
is regarded as final.

This manual is reserved by final user.

Sincere thanks for your supporting of GSK’s products.

Welcome you to give your suggestions about our product and User Manual by a
telephone, fax or Email addressed on the back cover of this manual, or send a feedback
to our headquarter by our local outlets.

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GSK CNC EQUIPMENT CO,. LTD

In order to fully enable this AC spindle servo drive unit and ensure your
safety, please read this manual carefully before using this product. You
should operate this drive unit strictly by the precautions and operation
procedures described in the manual.

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 CONTENT

WARNINGS

In order to avoid physical hurts to the operator or other personnels, pay

attention to the following warning marks when reading this manual:

z The following warnings with varying degrees of severity appear in the User
Manual, which is relative to the explanation of the operation safety marks. The
explanation is very important for the compliance in the operation.

! Danger
It indicates that severe injury or death may be caused if false
operation is performed.

!
It indicates that accidents occur if false operation is performed
which may cause medium degree injury, slight hurt or material
loss.

It indicates that undesirable result or situation may occur if the

note is neglected.

It indicates the key requirement or instructions of operation.

z The following symbols indicate some operations that must not or must be
performed.

It indicates prohibition (absolutely not do).

! It indicates compulsion (must do).

In addition, even items stated in the mark may result in serious

result.

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GSK CNC EQUIPMENT CO,. LTD

! Danger

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 CONTENT

! Danger

Don’t open the terminal Don’t touch the wiring

block’scover during power terminals of the drive unit
on or running main circuit

Electric shock may occur Electric shock may occur

if not observed if not observed

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GSK CNC EQUIPMENT CO,. LTD

! Danger

VIII
 CONTENT

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GSK CNC EQUIPMENT CO,. LTD

! Caution

Don’t touch motor, brake

resistance or servo unit radiator Don’t adjust and modify the
during running for the high parameters in an extreme way
temperature generated
Scalding may occur if not Equipment damage may
observed occur if not observed

Don’t run the drive unit if its

Don’t connect the power R, S, components are lacked or
T leading-in wires to the motor damaged and contact the
U, V, W leading-out terminals dealer immediately
Equipment damage may Equipment damage may
occur if not observed occur if not observed

The internal electronic

components of a rejected drive Don’t frequently switch on/
unit can only be tackled as off the leading-in power
industrial waste and can’t be
repeatedly used
Accident may occur if not Equipment damage may
observed occur if not observed

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 CONTENT

CONTENT

PREFACE..................................................................................................................................... III
WARNINGS .................................................................................................................................... V

CHAPTER 1 OVERVIEW....................................................................................................... 1

1.1 Product Brief................................................................................................................................1

1.2 Reception Check.........................................................................................................................2

1.3 Product Outline ...........................................................................................................................3

CHAPTER 2 INSTALLATION AND SPECIFICATION....................................................... 5

2.1 Fixing Environment....................................................................................................................5

2.2 Installation Dimension and Space .........................................................................................6

2.3 Dimensions and Installation of Brake Resistance.............................................................8

2.4 Servo Drive Unit Specification.............................................................................................9

CHAPTER 3 SYSTEM CONFIGURATION AND WIRING.............................................. 11

3.1 Peripherals Connection ..........................................................................................................11

3.2 The Interior Wiring Block Diagram of DAP01 Drive Unit................................................14

3.3 Wiring of the Main Circuit.......................................................................................................15

3.3.1 Standard wiring instance of the main circuit .................................................................................. 15
3.3.2 Terminal functions of the main circuit ............................................................................................. 15
3.3.3 Cable diameters and connection terminals .................................................................................... 17

3.4 I/O Signals and Connection ...................................................................................................17

3.4.1 Wiring for feedback signal ................................................................................................................... 17
3.4.2 Wiring for control signal ....................................................................................................................... 21
3.4.3 Connection principle of input and output points ............................................................................... 25

3.5 Standard Wiring Instances.....................................................................................................28

3.5.1 Standard wiring of trial speed run (Sr-) mode................................................................................ 28
3.5.2 Standard wiring of speed JOG- mode............................................................................................. 29
3.5.3 Standard wiring of internal speed control mode ............................................................................ 30
3.5.4 Standard wiring of external speed control mode ......................................................................... 32

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GSK CNC EQUIPMENT CO,. LTD

CHAPTER 4 DISPLAY AND OPERATION ....................................................................... 34

4.1 Operator Panel.......................................................................................................................... 34

4.2 Parameter Structure................................................................................................................ 34

4.3 Monitor Mode ............................................................................................................................ 35

4.4 Parameter Setting .................................................................................................................... 36

4.5 Parameter Management ......................................................................................................... 39

CHAPTER 5 RUNNING ....................................................................................................... 41

5.1 Check Before Running ........................................................................................................... 41

5.2 Trial Run by Power-On ........................................................................................................... 42

5.2.1 Power-on time sequence of servo unit ........................................................................................... 42
5.2.2 JOG running ....................................................................................................................................... 44
5.2.3 (Sr-) Trial run ...................................................................................................................................... 45
5.2.4 External speed control run ............................................................................................................... 46
5.2.5 Internal speed control run................................................................................................................. 47

5.3 Positioning Function .............................................................................................................. 48

5.4 Debugging and Parameter Adjustment ............................................................................. 52

CHAPTER 6 PARAMETERS............................................................................................... 54

6.1 Parameter List .......................................................................................................................... 54

6.2 Parameter Function Description.......................................................................................... 57

6.3 Motor Model Code Parameter Correspondence Table .................................................. 70

CHAPTER 7 PROTECTION FUNCTIONS........................................................................ 71

7.1 Alarm List................................................................................................................................... 71

7.2 Alarm Troubleshootings..................................................................................................... 72

7.3 Maintenance and Reparation................................................................................................ 79

CHAPTER 8 SUITED SPINDLE SERVO MOTOR .......................................................... 80

8.1 GSK Spindle Servo Motor...................................................................................................... 80

8.2 GOLDEN AGE Spindle Motor................................................................................................ 83

8.3 CEMA Spindle Servo Motor................................................................................................... 86

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 CHAPTER 1 OVERVIEW

CHAPTER 1 OVERVIEW

1.1 Product Brief

DAP01 AC spindle servo drive unit is a fully digital AC servo drive unit with large power, high
reliability and high quality, which is exclusively developed by GSK based on China medium CNC
machine tools development requirement. It is also called DAP01 drive unit or drive unit for short.
This drive unit is applied with the special digital signal processing module (DSP) massive
programmable logic matrix (CPLD) and intelligent power module (IPM). Based on the advanced
asynchronous motor vector control theory, this drive unit designed is qualified with the features such
as small volume, simple and flexible control function, full state display, wide timing ratio and high
reliability. It is suitable for the high-speed and stable spindle servo control required by the turning
machines, milling machines, machine centers and so on.
In addition such functions as internal speed control, external speed control, JOG running, (Sr)
trial run, spindle orientation are available by this drive unit. Different applications can be met by the
proper setting of the drive unit working mode, running characteristics. And the simple operation,
abundant I/O interfaces and multi-level protections provide a full guarantee for using.

JOG run

A fixed speed is preset by the user to the parameter. By the operator panel keys‘ 、 ’, it runs
forward or reversely by the preset speed with no need for I/O signal control from CN1 interface.

(Sr) trial run

Similar to JOG run, the manual continuous acceleration, deceleration control can be obtained by

the operator panel keys of ‘ 、 ’ with no need for I/O signal control from CN1 interface.

Internal speed control

By the 7 span speeds preset written to the parameters by user, the spindle servo motor can run
at 7 different speed spans by controlling the input combination of SP0, SP1, SP2 input points and it
needs no external commands.

External speed control

It is also called analog instruction control mode. The precise spindle servo motor speed can be
stably and smoothly adjusted by the analog voltage instructions given by upper machine or user
independently.

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Positioning function

This drive unit can be rapidly and precisely positioned to a preliminary position by the feedback
pulses from the spindle servo motor encoder or the encoder connected to the spindle in order to
change or measure the tools. This function also includes the single-point positioning, continuous
multi-point positioning.

1.2 Reception Check

Check

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

2) Whether the spindle servo drive unit, spindle motor are the ordered ones by checking the
nameplates of the goods.
3) Whether the accessories are complete by checking the packing list.
4) Please contact us or our suppliers if you have any questions after receiving your goods ordered.

Packing list：DAP01 drive unit 1

Suited brake resistance 1
User manual for DAP01 drive unit 1
Quality certificate 1

The drive unit damaged or lacking of components can’t be used.

Drive unit must be mated to the spindle motor with the suited
performance.

Nameplate pattern

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 CHAPTER 1 OVERVIEW

Model significance

1.3 Product Outline

Spindle servo drive unit outline

Driver panel

Analog signal output

terminal CN3 6-bit LED indicator

Encoder 5 operation buttons

feedback CN3
CN2
terminal CN2 CN1
Wiring terminal
R S
T PE
block for the
P B
PE U
V W
main circuit
Control signal
terminal CN1

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GSK CNC EQUIPMENT CO,. LTD

Servo motor outline

Motor lead-in terminals

Mounting surface Connection terminals

of encoder
(Encoder inside)

Axial fan

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 CHAPTER 2 INSTALLATION AND SPECIFICATION

CHAPTER 2 INSTALLATION AND SPECIFICATION

For the direct influence to the functions and life of this DAP01 spindle servo drive unit by the
environment where it locates, do install it as the items stated below.

„ Be careful for the protection against rain and straight sunlight.

„ The servo unit must be fixed in an electrical cabinet to prevent dust, corrosive gas,
liquid, conductors and inflammable substances from entering it.
„ The place where the servo unit is fixed should be ventilative, dampproof and
dustproof.
„ Don’t fix the servo unit on or near the inflammable object.
„ Please run the servo unit in a temperature below 55℃ to ensure a reliable long
term use.

2.1 Fixing Environment

Item DAP01 drive unit

-10℃～55℃（no frosting）
Running temperature
≤90%RH（no condensation）
Storage/delivery temperature and -40℃～80℃
humidity ≤90%RH（no condensation）
There should be no corrosive gas，flammable gas, oil fog
Atmospheric environment
or dust etc. in the cabinet.
Altitude Altitude: below 1,000m

Vibration ≤ 0.6G（5.9m/s2）

Atmospheric pressure 86KPa～106KPa

Guard level IP43

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GSK CNC EQUIPMENT CO,. LTD

2.2 Installation Dimension and Space

The unit is employed with bottom board installation pattern and its fixing direction is upright to the
fixation plane. Face the front of the unit forward and bottom upward for heat dissipation. The fixation
dimensions are shown as the right figure. (Unit: mm)

Installation clearance:

Fixing clearance for single drive unit

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 CHAPTER 2 INSTALLATION AND SPECIFICATION

Fixing clearance for multiple drive units

„ Multiple units should only be fixed side by side for a better heat dissipation.
„ Keep the drilling swarf, wire ends etc. out of the drive unit during the cabinet
installation.
„ Keep the oil, water, metal material etc. in the cabinet from entering the drive unit
during its using.
„ In the place that harmful gas and dust exit, do ventilate the cabinet by
clean air to prevent them from entering the cabinet.
„ Brake resistances can only be installed beside the drive unit, and they
are not allowed to be installed up and down.

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2.3 Dimensions and Installation of Brake Resistance

Dimensions of brake resistance

Output Brake Max

capacity of resistance Brake Installation dimensions（mm）
braking
drive unit power resistance
current
value（Ω） I I1 h b c d e
（kW） （W） （A）
3.7 25
500 33 356 300 95 45 16 50 6.2
5.5 25
7.5 25
1500 27 475 415 135 70 20 68 8.2
11 25

φ 5.5

h
b
I1

I d

The brake unit begins making brake as the DAP01 drive unit bus voltage reaches 680V.
If user chooses the brake resistance, it should meet the equation
680 ≤ 25A , in which
R
R is brake resistance value.

Installation of the brake resistance

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 CHAPTER 2 INSTALLATION AND SPECIFICATION

2.4 Servo Drive Unit Specification

Drive unit model DAP01-037 DAP01-055 DAP01-075 DAP01-110

Continuous output
3.7kW 5.5kW 7.5kW 11kW
power (S1)
30min output
5.5kW 7.5kW 11kW 15kW
power (S3)
Input power 3-phase AC380V（－15%～＋10%） 50/60Hz
Working mode Internal speed run, external speed run, Jog run, trial run
Constant torque
1000:1(speed range of suited motor :1.5 r/min～1500 r/min)
timing ratio
Constant power
4:1(speed range of suited motor :1500 r/min～6000r/min)
timing ratio
Speed stability
Bottom speed (rated speed)×0.1%
precision
Speed control mode Speed closed loop control with speed feedback
External speed
－10V～+10V or 0 V～10V
command input
Speed feedback 1024p/r Incremental rotary encoder, A/B/Z differential signal
input
For 8 positioning points setting of motor(spindle ) encoder, motor
Positioning function (spindle) positioning is started with positioning points chosen by external
trigger signal, positioning angle error≤180º/encoder pulses

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Spindle position Incremental rotary encoder, 128~8000p/r pulses setting, A/B/Z

feedback input differential signal
Position feedback Motor or spindle encoder signal 1:1 output, A/B/Z differential signal
output
11 points input such as servo enable/ zero-speed clamping /SFR/ SRV/
Control input signal
speed (positioning point) selection/ positioning start
Control output 6 points output such as alarm/ ready/ speed in-position/ position
signal completion/ zero-speed output/ motor Z pulse zero
Protections such as overvoltage, undervoltage, overspeed, overcurrent,
Protection
overload, overheating, encoder abnormity
6 bits LED, software and hardware version, working mode, current
Display speed, speed command, encoder position/ status, current, torque, I/O
mode, bus voltage, alarm codes, parameters etc. can be displayed
5 keys available for operations of working mode, content display,
Operation
parameter modification and management etc.
External energy
comsumption brake 33Ω/500W 27Ω/1500W
resistance
Working
temperature and -10℃～55℃（no frosting）, 90%RH below（no condensation）
humidity
Vibration ≤0.6G(5.9m/s2)
Protection degree IP20

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

! „ Wiring should be done by the qualified technicians according to the

user manual.
„ The wiring or overhauling should be done in 10 minutes after the
drive unit is cut off on the condition that the safe voltage has been
confirmed by multimeter, or electric shock may occur.
„ Ensure the drive unit and the spindle servo motor grounding to be
right.
„ Don’t hurt or drag the cables during wiring, or electric shock may
occur.
„ Don’t make the main circuit and signal cables to go through the
same channel, or tied them up together. The main circuit and signal
cables should be assigned separately or intersectionally with an
interval of over 30 cm between them, or the drive unit may work
abnormally by strong interference due to coupling generated.
„ Don’t switch ON or OFF power frequently due to the high charge
current generated by the large capacitances inside the servo unit,
and if ON/OFF power frequently, the main circuit elements
performance in the drive unit will be decreased.
„ Don’t add device such as power capacitance, surge absorber and
radio noise filter between the drive unit output terminal and the
spindle servo motor.

3.1 Peripherals Connection

Some peripherals are necessary for spindle servo unit. By choosing correct peripherals and
connection by Fig.3.1, the spindle servo drive unit stable running can be ensured for a long term.
Otherwise it will shorten the life of this drive unit, even damage it.

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GSK CNC EQUIPMENT CO,. LTD

Power 3-phase
AC380V R S T
Spindle encoder
connector
Incremental encoder
fixed on the machine
spindle

Breaker

980TD

输 输 转
入 出 换

插 删 取
入 除 消

行 换
首 行

下 位 程 刀 设
档 置 序 补 置

CN3 行 参 诊 报

广 州 数 控 尾 数 断 警

CN2
CN1

Interference RS
CN1 Connecting to CNC
filter
T PE
P B
PE U
system and upper machine
VW

PE PE
RST P B U VW Motor encoder
connector

Power
reactor earthing

Magnetic
contactor

Energy consumption
brake resistance

Fig.3.1 Peripherals connection

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

For stable motor running

characteristic by improving
the power factor

AC reactor

Used to switch on/off spindle

servo unit power, please install
surge inhibitor in using

Magnetic contactor

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3.2 The Interior Wiring Block Diagram of DAP01 Drive Unit

+10% External brake resistance

3-phase 380V - 15%
(50/60Hz)

P B

Interference
filter PE
Brake
Rectifying feedback Reversing module
P+
AC reactor

module P
R R

U
R
KM1 R
R V
OUT
S S

Brake unit
T R W M
T
PE PE

380V
N

Power 21V 220V Bus voltage sampling Spindle servo

grounding motor
Relay
drive PWM drive

Relay Overvoltage Pumping voltage Braking IPM Current

detection detection triggering alarm
drive detection

Interface circuit of power board

feedback signal
Radiation
fan

Encoder
CN2 Motor
PWM buffer
Interface circuit of control board encoder

Current
detection

Spindle encoder
Encoder Feedback
Positioning

selection
encoder

A/D
signal
convertion Data
exchange
CN3
DSP chip
Speed operation; CPLD logic chip
PI regulation for
current, speed loop; I/O interface processing;
Monitor panel Encoder feedback output
PWM pulse control; Encoder feedback signal
and other controls. processing;
Storage Alarm signal processing. CN1 Input or output points
unit A/D
convertion

Analog filtering
and amplified Analog command input
circuit

EMC IPM control power

circuit DC/DC
convertion +5 V
of GND
switch - 15V
power
GND
+15V

Power off Power on

KM1

KM1 Surge inhibitor

Fig.3.2 The interior wiring block diagram of DAP01 drive unit

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

3.3 Wiring of the Main Circuit

3.3.1 Standard wiring instance of the main circuit

Fig.3.3 Standard wiring block diagram of the main circuit

3.3.2 Terminal functions of the main circuit

The wiring of the main circuit terminals is shown in figure above, and their functions are as
following table:

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GSK CNC EQUIPMENT CO,. LTD

Table 3－1

Terminal
Terminal Function
name
AC power input
R，S，T 3-phase AC380V (-15%～10%)
terminal
This DAP01 drive unit output phase sequence may differ with the
Motor
phase sequence of the motor，which can’t be connected to U, V,
U，V，W connection
W terminals of motor at will by user, see the following warning for
terminal
operation.
Brake
P，B resistance They are used for energy consumption brake.
terminal
Grounding It is connected to the grounding terminals of power and motor for
PE
terminal grounding.

Due to the different manufacture standards of the spindle motors by various

manufacturers, the U, V, W output terminal phase sequence of this DAP01 drive
unit does not naturally correspond with the U, V, W phase sequence of the spindle
servo motor one by one as for the motor connection . Generally, when the motor is
enabled, if the motor shakes or the motor rotates by a constant speed without
being controlled till the Err－27 alarm is issued, it means the motor phase
sequence is wrong. Please exchange the two phases of them for use after the power
is cut off for 10 minutes.

As regard to Version 2.x, the corresponding connections for several spindle servo motors and
DAP01 drive units are shown in the following table.

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

Motor terminals
DAP01驱动单元
DAP01 驱动单元 of
DAP01 drive unit
电机接线端子
电机接线端子 UU VV WW PE
PE

YPNC series
YPNC系列
YPNC系列
Shanghai CEMA
上海先马主轴伺服电机
spindle servo motor
WW VV UU PPEE
GM7 series
GM7Wuhan
GM7系列系列 Golden
Age spindle servo motor
武汉登奇主轴伺服电机
武汉登奇主轴伺服电机 VV UU WW PE
PE

3.3.3 Cable diameters and connection terminals

The cable and connection terminal specifications for the servo unit input terminals （R，S，T）
and output terminals （U，V，W）are shown in following table:
Table 3-2

Connection terminal
Cable diameter
dimensions
Power Terminal
mm2
suited screw
R,S,T U,V,W Earthing cable
R,S,T U,V,W
diameter
DAP01-037 M5 2-4 2-4 2 2 2
DAP01-055 M5 5.5-4 2-4 3.5 2 3.5
DAP01-075 M5 5.5-4 5.5-4 3.5 3.5 3.5
DAP01-110 M6 5.5-6 5.5-6 5.5 5.5 8

3.4 I/O Signals and Connection

3.4.1 Wiring for feedback signal

There are 2 feedback signal interfaces in DAP01 spindle servo drive unit, CN2 (DB25 female
socket) and CN3 (DB9 female socket), i.e. for motor encoder feedback signal, spindle encoder
feedback signal (encoder directly connected to the machine spindle as shown in Fig.3.1). User can
choose motor encoder feedback signal or spindle encoder feedback signal as positioning encoder

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GSK CNC EQUIPMENT CO,. LTD

signal by setting parameter PA66 for 1 or 0 correspondingly. If positioning is not needed, motor
encoder will do. If the automatic tool change for precision positioning is needed, the motor and
spindle transmission ratio 1：1 should be ensured when there is no encoder fixed on spindle. Or the
spindle encoder must be fixed as a positioning encoder.

Feedback signal interface CN2 of motor encoder Feedback signal interface CN3 of spindle encoder

13 OH1
25
12 A-
24 A+ 5 SCA+
11 B-
23 B+
9 SCA-
10 Z- 4 SCB+
22 Z+ 8 SCB-
9
21
3 SCZ-
8
7 SCZ+
20 2
7 6 GND
19 1 VCC
6 5V
18 5V
5 5V
17 5V
4 0V
16 OH2
3 0V
15 FG
2 0V
14 FG
1 0V

The interfaces of CN2 and CN3 should be connected to signal output terminals of the
incremental encoder having 1024, 2500, 5000 pulses, just set the parameter PA67 for the
corresponding pulse value for using.

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

Table 3－3

Terminal Interior circuit

Interface Terminal meaning
name principle
A+/A- differential signal input terminal of motor
A+/A- encoder
B+/B- differential signal input terminal of motor
B+/B- encoder
Z+/Z- differential signal input terminal of motor
Z+/Z- encoder
CN2
5V

Input terminals of overheat protector for

OH1/OH2 spindle servo motor, and OH2 connecting OH1 470Ω

inside 5V grounding OH2

DC 5V power for motor encoder

5V/0V
Grounding of signal cable shielding
FG
A+/A- differential signal input terminal of
SCA+/SCA- spindle encoder
B+/B- differential signal input terminal of
SCB+/SCB- spindle encoder
CN3
Z+/Z- differential signal input terminal of
SCZ+/SCZ- spindle encoder
DC 5V power for spindle encoder
VCC/GND

Encoder Drive unit

output
X+
X-
120Ω AM26 LS32

X=A,B,Z, SCA,SCB ,SCZ

Fig.3.4 Wiring principle of encoder feedback signal cables

„ The cable length between the drive unit and spindle motor should be within 20 meters.
„ The distance between feedback cables of encoder and main circuit cables should be
over 30cm, their cables should not go through the same tunnel or be tied up together.
„ Twisted shield cable with the sectional sizes 0.15mm²～0.20mm² should be employed
for feedback signal cable, and the shielding tier should be connected with FG
terminal.
„ The main circuit cables and wires should be well fixed as well as not to be adjacent to
controller radiator or motor for their insulation protection against heating.
„ If thermal resistance or other thermal protection switch is not fixed inside the motor,
there will be an Er-5 alarm, and parameter PA73 is needed to be modified to shield
the overheating alarm of the motor.

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GSK CNC EQUIPMENT CO,. LTD

The following wiring for GOLDEN AGE spindle servo motor encoder in Fig.3.5 is an example of
motor encoder wiring. If other motor or self-made feedback signal cable is used, refer to this for
encoder wiring.

Motor encoder output terminal

To spindle servo drive unit CN2

Fig. 3.5 Standard wiring for motor feedback signal cables

A standard wiring instance for spindle encoder by Japan Tamagawa TS5308N512 encoder:

YELLOW A+ SCA+ 5
WHITE A- SCA- 9
BLUE B+ SCB+ 4
GREEN B- SCB- 8
BROWN Z+ SCZ+ 7
ORANGE Z- SCZ- 3

RED VCC VCC 1

BLACK GND GND 2
GND 6

Metal shell Metal shell

Spindle encoder terminal Intermediate cable Drive unit terminal

Fig. 3.6 Standard wiring diagram for spindle encoder feedback signal cables

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

3.4.2 Wiring for control signal

The control circuit interface is CN1 (DB44 male socket), the shielded or twisted-pair cable should be
employed for the connection.

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Description of input signal functions

Pinou Interior circuit

Sign Function
t No. principle
Servo enable signal:
A pole side is
When the input terminal is at low level, the motor is
connected to COM+
excited for ready state, once a command is
via a serial 4.1kΩ
entered, the motor starts to run (SRV or SFR
resistance for an
24 SON signal is needed for motor excitation when the
interior photoelectric
drive unit is running at the external speed control
coupling; K pole side
mode);
is connected to input
When the input terminal is at high level, the motor
terminal for a
is in free state that the running is disabled.
photoelectric
SFR/stop signal:
coupling.
9 SFR Err-7 alarm is issued if SFR and SRV signals are
effective at the same time.
SRV/stop signal:
25 SRV Err-7 alarm is issued if SFR and SRV signals are
effective at the same time.
COM+
Positioning start signal: 4.1K

As this input terminal is at low level, the servo unit

11 STAO executes positioning function, if it finds the
positioning point, the control will be clamped at this
point.
41 SECO Positioning direction selection signal
As the double terminals for internal
10 SP0
speed/positioning selection, SP0, SP1,SP2 are

40 SP1 only regarded as the combination terminals for

internal speed, see details in parameter PA22. See
parameter PA58～PA65 for the 8-point positioning
26 SP2
combination terminals for external speed.
Zero-speed clamping signal
As this point is at low level, the motor is clamped at
27 ZSL
the zero-speed and excited, and the speed
command is ineffective.

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

Alarm reset signal:

When an alarm is issued by drive unit, the alarm
signal will be cleared by entering this signal after
8 ARST the fault is eliminated.
Note: Only No.1～No.9 alarm can be reset by
this signal. Those alarms over No.9 can only
be reset by repowering.
12 GIN Reserved.
Analog speed command input terminal:
14 VCMD＋
The command voltage 0V～+10VDC or -10V～ 15K
15 VCMD－
+10VDC can be set by parameter PA46.

Description of output signal functions

Pinou Interior circuit

Sign Function
t No. principle
Speed arrival signal:
If the actual speed reaches the range of the speed
5 SAR specified, low level signal is output without the
CCW and CW rotation direction. See parameter
PA31.
6 SECT Reserved.
Alarm output signal: E pole side is
When the alarm is issued by drive unit, the output connected to COM-
7 ALM
level is reversed. The output level can be set by for two interior
parameter PA72. photoelectric
Zero-speed output signal: couplings; pole C is
When actual speed≤zero-speed output threshold output terminal, its
20 ZSP
value (set by parameter PA32), the low level maximum load
signal is output. current ≤100mA
Positioning completion signal:
When positioning error is within the positioning
21 COIN
window area, the low level signal is output. The COM－

completion range is set by parameter PA56.

Ready signal:
22 RDY When the servo is enabled and motor is excited,
low level signal is output.
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Maximum load current

≤100mA
19 PCZ+
PCZ+
Z phase pulse feedback output of motor
4 PCZ- encoder PCZ－

16 PAO+ A phase differential output of motor encoder/ The interior is the output of
1 PAO- spindle encoder, see PA69～PA71. differential chip 26LS31.
B phase differential output of motor encoder/
spindle encoder, see PA69～PA71.
17 PBO+
2 PBO-

Z phase differential output of motor encoder/

18 PZO+
spindle encoder, see PA69～PA71.
3 PZO-

Other signals

Pinout Interior circuit

Sign Function
No. principle
+15V voltage output with maximum output current
43 ＋15V
30mA
-15V voltage output with maximum output current
44 －15V
30mA
29
0VA Interior analog grounding
30
37 The 15 ～ 24V external DC power, with the input
38 COM+ current over 100mA, is used for driving the
39 photoelectric coupler of the input terminal.
35
36 COM－ 15V～24V external power grounding
23

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

3.4.3 Connection principle of input and output points

Instances of input terminals wiring

1. External switching volume instance

2. External CNC photoelectric coupler instance

CNC Drive unit

system COM+
24V

4.1K

24V Grounding

Drive unit doesn’t work if the power poles are reversely connected.

Instances of output terminal connection

1. Instance of output terminal to relay

Reverse polarity
connection is
unallowed.

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2. Instance of output terminal to 980TD turning machine

3. Instance of output terminal to GSK21M milling machine

4. PCZ signal output connection instance

PCZ+

PCZ－

DC5V～24V

PCZ+

PCZ－

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

„ Interface output type is collector open circuit with the max. current 100mA, and
the max. external DC power voltage is 25V. If the load exceeds them or output is
connected directly with power supply, the servo unit may be damaged;
„ If the load is an inductive one, the both terminals of load must be reversely
connected with parallel freewheeling diodes. If freewheeling diode is connected
reversely, the servo unit will be damaged.

Connection instance of encoder output

To connect high-speed
Drive unit photoelectric coupler High-speed
output X+ 100Ω photoelectric coupler

X-
AM26LS3
1
X=PAO，PBO，PZO

„ There should be an interval of over 30cm between the control signal cables and
the main circuit cables and they are not allowed to go through the same tunnel
or tied up together to protect against interference.
„ The length of control signal cable should be within 3m.

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3.5 Standard Wiring Instances

3.5.1 Standard wiring of trial speed run (Sr-) mode

Fig.3.7 Standard wiring diagram of trial speed run mode

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

When the parameter PA4 is set for 2, i.e. in speed trial run mode:
1. The spindle servo motor is run by enable signal (SON) given by CN1 interface.
2. To set parameter PA33 for 1 without connecting CN1 to force the internal enable for
spindle motor running. See details in 5.2.3 for its operation.
Refer to Section 5.2.3 for its operations.

3.5.2 Standard wiring of speed JOG- mode

When the parameter PA4 is set for 3, i.e. in speed JOG- run mode, its wiring is identical
with that of speed trial mode in Fig.3.1X:
1. The spindle servo motor is run by enable signal (SON) given by CN1 interface.
2. To set parameter PA33 for 1 without connecting CN1 to force the internal enable for
spindle servo motor running. See details in 5.2.2 for its operation.
Refer to Section 5.2.3 for its operations.

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3.5.3 Standard wiring of internal speed control mode

Fig.3.9 Standard wiring diagram of internal speed control mode

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

When the parameter PA4 is set for 1 and PA22 for 0, the drive unit is in internal speed
mode, and the motor commands in this mode are got by the combination of SP0, SP1, SP2
input points, select the setting values of parameter PA24~PA30.
See details for it in Section 5.2.5.

Spindle encoder is recommended for accurate position. On the condition that the
transmission ratio of the motor and the spindle is 1:1, the positioning is allowed to be
performed only by motor encoder. If the spindle transmission clearance is large, it is
recommended that the synchronous belt transmission be applied to avoid the spindle
inaccurate positioning by this large clearance.

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3.5.4 Standard wiring of external speed control mode

Fig.3.10 Standard wiring diagram of external speed control mode

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 CHAPTER 3 SYSTEM CONFIGURATION AND WIRING

When the parameter PA4 is set for 1 and PA22 for 1, the drive unit is in external speed
mode, if the command (－10V～＋10V）is entered and the servo enable (SON) is ON, i.e.
low level is effective, the motor is not excited, only SFR signal is ON, is the motor excited.
Once the analog command is entered, the motor runs immediately. See Section 5.2.4.

Spindle encoder is recommended for accurate position. On the condition that the
transmission ratio of the motor and the spindle is 1:1, the positioning is allowed to be
performed only by motor encoder. If the spindle transmission clearance is large, it is
recommended that the synchronous belt transmission be applied to avoid the spindle
inaccurate positioning by this large clearance.

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CHAPTER 4 DISPLAY AND OPERATION

4.1 Operator Panel

The operation of DAP01 servo unit is very easy that the functions required can be set by only 5
keys. The outline of its panel is as following:

While the data is being displayed by the LED nixie tube, the decimal point of the digit to be
modified flickers and the decimal point in the ultra right nixie tube lights up after the data modification,
by pressing key for the confirmation for the modification, this decimal point restores to
flickering. If alarm occurs, the alarm code will be displayed by LED. The fault can be resolved by
user according to the alarm code.

4.2 Parameter Structure

The operation of DAP01 is performed by 3 level menus: the first level is the main menu which
involves 8 modes; the second level is function menu under the modes; the 3rd level is data level. As
is shown in Fig.4.1, after the power-on initialization in drive unit, press key to enter the first level
main menu, the press or key to select a mode in 8 modes. Only 5 modes are effective in this
version: i.e. Monitor mode（dP）、Parameter setting（PA）、Parameter management（EE）、Speed
trial run（Sr）、JOG run（Jr）. And the other 3 modes are reserved for further development that is
unallowed for operation. After a mode is selected, press key to enter the lower menu of this
mode; press key to return to the upper menu if you want to return. If the key is
repressed, the control enters the bottom data level of the 3rd level.

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 CHAPTER 4 DISPLAY AND OPERATION

Fig.4.1 Parameter structure diagram

4.3 Monitor Mode

There are 25 monitor modes in this drive unit, in which the current position type ,

position command type , position error type , position command pulse

frequency type are used for advanced development of this spindle servo drive unit that
can’t be monitored by user.

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Fig. 4.2 Monitor modes block diagram

4.4 Parameter Setting

Prior to parameter setting, modify the user password parameter PA-0 for 315 according to the

parameter table in Section 6.2. Then press ‘ ’ key to confirm the setting. The instance for

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 CHAPTER 4 DISPLAY AND OPERATION
parameter setting is as following:

Fig.4.3 Adjustment steps for motor default parameters

The shift function by ‘ ’key in parameter setting provides an easy way for parameter setting:
e.g. for the current parameter PA-7, there are two ways to modify it:
A: Directly press key to find PA-37

B: If the current parameter is , press “ ” key for once, the decimal point shifts one
digit left and it changes for , then press key for 3 times, the parameter

changes for , press key, and the parameter PA-37 will be found
immediately.

Still an example: to change the value -2045 of PA24 for 2045, the steps are as follows:

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Fig.4.4 Shift key operation instance

Press ‘ ’key continuously for 3 times, the LED decimal point of digit “2” flickers, while that
of digit “5” doesn’t. Press key twice, it turns to -45, press key again, i.e. －45+1000＝955, it
displays 955. Then modify the number for 2045 bit by bit, so the modification can be finished by this
method.

The decimal point can only move on the right 2 LED nixie tubes while modifying
parameter No., this is because that the parameter to be modified only contains 2
digits(less than 100). As for modifying the parameter values, the decimal point may be
moved on the right 4 LED nixie tubes.

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 CHAPTER 4 DISPLAY AND OPERATION

4.5 Parameter Management

The parameter management is mainly used for memory and EEPROM operation. Select “EE-”
in the first level and press key to enter parameter management mode. 5 operation modes
can be selected by or key. e.g. for “parameter writing”, select “EE-Set”，then press
and hold it on for over 3 second, the monitor displays “ ” that means the parameter is being
written into EEPROM. After 1~2 seconds, the monitor displays “ ” if the writing is
successful, otherwise“ ” is displayed. Press key to back to operation selection mode.

EE－SEt: Parameter writing It means to write the parameters in the memory into EEPROM
parameter area. The parameters modified by user only change the parameter values in the memory
that they will restore to their original values after power is on again. If the parameter values are
changed permanently, parameter writing should be executed to write the parameters in the memory
into the EEPROM parameter area, so the modified parameter values will be valid after power is on
again.

EE－rd: Parameter reading It means to read the data in EEPROM parameter area into the memory.
The process will be executed automatically when power is on. At the beginning, the parameters in
the memory are the same as that of EEPROM parameter area. If the parameters are modified by
user, the parameter values in the memory will be changed. If the user is not satisfied with the
modified parameter values or the parameters are disordered, the parameter reading can be
executed to read the data in EEPROM parameter area into the memory to recover the original
parameters as power is supplied.

EE－bA: Parameter backup (reserved)

EE－rS: Backup restoration (reserved)

EE－dEF: Default Restoration It means all default values (factory setting) of parameters are read
into the memory and be written into EEPROM parameter area that they will be used when power is
on again. Perform the operations above to restore all parameters to their factory settings if the
parameters are disordered by user that cause the system to run abnormally. Because different servo
motor corresponds to different parameter default value of the servo unit, the model code of the servo
motor must be ensured (parameter PA01) when restoring default parameters.

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Fig.4.5 Parameter management block diagram

Power on ： EEPROM parameter area memory

EE-SEt Parameter writing：memory EEPROM parameter area

EE- rd Parameter reading: EEPROM parameter area memory

EE- bA Parameter backup： memory EEPROM backup area

EE- rS Backup restoration: EEPROM backup area memory

EE-dEF Default value restoration: default value memory, EEPROM parameter area

If the parameter writing is not executed, the parameter modified will not be saved after
power is down, and the modification of this parameter is invalid.

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 CHAPTER 7 PROTECTION FUNCTIONS

CHAPTER 5 RUNNING

The R,S,T inlets of power must not be connected with the U,V,W output
! terminals of the servo unit, otherwise the servo unit will be damaged.

If the drive unit is used for the first time, please call out the motor current
monitor mode after the initial power on and use this mode to monitor the motor
current in real time as the motor enable signal is given. If the motor current is
too large, it means the motor connection is wrong or the spindle servo
parameters are not properly set. Please cut off the enable if this happens, or else
the motor may be damaged.

5.1 Check Before Running

Please make the following check before initial power on by referring to Section 3.3.1:

„ Check the power supply input terminals （R、S、T、PE）connection and the

fastness of the terminal screws.

„ Check the connection of the output terminals（U、V、W）for spindle servo unit with the
spindle motor power input terminals（U、V、W）.

„ Check whether the correct external brake resistance is connected.

„ Check whether the feedback signal cables of the motor encoder (feedback signal cables
of the spindle encoder) and the control signal cables are securely connected.

„ Make sure the spindle motor shaft has been completely detached from the
loading prior to running.

„ Switch on 380V AC power.

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5.2 Trial Run by Power-On

5.2.1 Power-on time sequence of servo unit

The wiring of power is shown as Fig.5.1, switch on the power by following steps:
1） Connect the power supply with the power input terminals of main circuit (R, S, T) by AC contactor
KM1.

Motor encoder
feedback

Fig.5.1 Power wiring block diagram

2） If servo enable (SON) is ON after the connection of the control power with the main circuit power,
the motor is not active and the system is in a free state. If servo enable signal is cut off or
alarming occurs, the motor is in a free stat.
3） If servo enable (SON) is on together with SFR (SRV)signal, the motor is excited in about 100 ms.

Frequent switching on or off the power may damage the soft start circuit and energy
consumption brake circuit. The frequency limit for switching on or off should be
limited for once per 10 minutes. If the servo unit or motor is overheated, only by 30
minutes cooling after the fault is exterminated, can the power be switched on again.

4) Time sequence diagram for power on

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 CHAPTER 7 PROTECTION FUNCTIONS

Power on
<0.5s no alarm
Alarm output（ALM）

Servo enable（SON）

SFR (SRV) command signal

t
Ready（RDY）

4ms 2ms

“t” can either be more or less than 0, namely, it has the same effect if the servo
enable（SON）signal is commanded before SFR(SRV) signal or SFR(SRV) signal
before servo enable（SON）signal.

Power on
<0.5s no alarm
Alarm output（ALM）

SFR (SRV) command signal

Servo enable（SON）
t
Ready（RDY）

2ms 4ms
5） Servo enable and speed time sequence

Power on

Servo enable signal

SFR (SRV) signal

Speed（n） t1 t2 t3

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t1, t2 are the acceleration and deceleration time which can be modified by parameter
PA39, PA40; t3 is the motor free halt time after Enable is off. Attention should be paid
that t2 and t3 are different because t2 is for motor braking halt, while the motor is excited
and it is in free state after it stops; and t3 is for free halt, while the motor is at free if
enable signal is off, which is as parameter PA74=0; while PA74=1, the servo enable is off,
the motor brakes to stop and stays at free. In this situation the significances of t3 and t2
are identical.

6) Time sequence of spindle alarm and reset

Power on

Spindle alarm output (ALM)

Ready（RDY）

Alarm reset
>50ms

5.2.2 JOG running

Do switch off load prior to JOG running. If the JOG running is well done, it means that the
connection between the spindle motor and the servo drive unit is correct.
Steps:
First call out the default parameters for the suited
motor with CN1 not connected

Set parameter PA4=3 for JOG mode

Set parameter PA21＝500 for a 500 r/min JOG speed

Set parameter PA33＝1 for internal enabling

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 CHAPTER 7 PROTECTION FUNCTIONS

Switch to Jr- menu, press key twice, it displays

Hold the‘ ’key, the motor begins to run at a speed of 500 r/min set by
parameter PA21

Hold the‘ ’key, the motor runs at a speed set by parameter PA21；hold the ‘ ’
key for running reversely; release the key, the motor stops and stays at zero-speed.

5.2.3 (Sr-) Trial run

Similar to JOG run, the Trial run steps are as follows:

First call out the default parameters for the suited

motor with CN1 not connected

Set parameter PA4=2 for Trial run mode

Set parameter PA33＝1 for internal enabling

Switch to Sr- menu, press key twice, it

displays with the unit r/min

Press the‘ ’key, the motor begins to accelerate；release the key the motor remains at
a fixed speed, press the ‘ ’key the motor begins to decelerate；so in this mode the
‘ 、 ’keys are used for motor acceleration and deceleration.

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5.2.4 External speed control run

Connect CN1 by the right figure, power on and call out

the default parameters for the suited motor

Set parameter A4=1 for Speed control mode

Set parameter PA22＝1 for external analog command input

If analog command is 0～10V, If analog command is -10V～

set PA46=1，PA45=1; 10V, set PA46=0;

Make analog command for 0V, Make analog command for 0V,
SON, SFR or SRV for ON, SON, SFR for ON, adjust the
adjust the value of PA44 to value of PA44 to make the
make the motor for zero-speed if motor for zero-speed if it runs at
it runs at a low speed. a low speed.

Change the analog command voltage to make the speed to vary

proportionally with this voltage. The corresponding maximum speed can
be obtained by modifying PA42 as the command voltage is 10V. It should
be noted that the motor maximum speed is restrained by PA23.

In this manual the input point ON indicates the external switch is closed, or low level
signal is input. Actually the internal photoelectric coupler of this input point is on.

In this mode, the motor is not excited by a SON signal; if 0～10V command（PA46＝1）
is selected, the motor can be excited by another SFR or SRV signal. And the motor runs
if PA45 is set for 1, not if set for 0;
When －10V～10V command （PA46＝0）is selected, another SFR signal should be
given for motor excitation, where SFR acts as servo enable signal; the current motor
running direction can be altered by setting parameter PA45 for 0 or 1.

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 CHAPTER 7 PROTECTION FUNCTIONS

5.2.5 Internal speed control run

Connect CN1 by the right figure, power on and call out the
default parameters for the suited motor
Servo unit side
37
External COM+
power 38
Set parameter A4=1 for Speed control mode
DC15-24V COM+
39
COM+
24
Set parameter PA22＝0 for internal speed command input
SON
10
SP0
40
SP1
Set appropriate value for parameter PA24~PA30 as required 26
SP2

Set SON for ON, the motor is excited for zero-speed, different motor speed
values can be obtained by inputting the speed selection command according
to the combinations of SP0, SP1, SP2 in Table 5.1.

In internal speed modes, SP0, SP1, SP2 are defined as input point combinations for multiple
level speeds selection: speed selection 0（SP0）, speed selection 1（SP1）, speed selection 2（SP2）.
As following table shows these three terminals is combined for 8 level speeds that are set in
parameters PA24～PA30 respectively.
Table 5-1

The positioning function is also available in internal speed mode. Though the input
point combinations above are defined for speed selection, the positioning can only be
done by a position set by parameter PA58.

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5.3 Positioning Function

Spindle positioning: As for tool change or measurement requirement, the rapid and accurate
positioning, which is done by the feedback pulses from the spindle servo motor encoder or the
encoder directly connected with the spindle, and spindle preliminary dwell position (i.e. position
of servo motor) holding function is called spindle positioning. It also involves single point
positioning and multiple point continuous positioning.
Spindle positioning precision: It is expressed by a minimum angle θ of spindle accurate
positioning as following equation:

θ
o o Positioning
Formula 1―― θ＝ 360
4L
= 90
L
center

L： Positioning encoder pulses

4L： Positioning encoder pulses by 4 frequency

There is a θangular error for spindle positioning center in actual positioning, so the
minimum positioning precision of this DAP01 drive unit can reach 2θ.

The positioning precision can also be expressed by the minimum arc of the positioning circle
connected with the spindle or the chord of the minimum arc in practice. e.g. positioning drill on
the outer circle of the round part in a lathe; the tool setting of machine center and spindle in a
milling machine. So the positioning precision is related not only with the motor (spindle)
encoder pulses, but also with the positioning circle diameter, as is shown in following
equation:

D δ1 θPositioning
Formula 2―― δ1= sin 90°
L D
2 δ1 center

Z D： positioning circle diameter

δ1： spindle positioning precision by the
chord in positioning circle

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 CHAPTER 7 PROTECTION FUNCTIONS

It also can be calculated by following expression:

Formula 3―― δ 2= π D
4L

∆2： spindle positioning precision by the arc in positioning circle

As known from the above two expressions, the minimum positioning precision
for this DAP01 drive unit can reach 2δ1 , or 2δ2 .

For example, to drill at a fixed position on the outer circle of the

round part with a diameter 200mm in the right figure, the requirement
δ
of drilling position error is not more than 50µm，how many pulses for
the encoder should be chosen to meet the requirement?
For the arc length, to meet the requirement not more than 50µm, ∆δ
≤25µm should be ensured by this DAP01 drive unit. By formula 3,

δ ≥ πD L ≥ πD
4L 4 δ

then： L ≥ 6280

To ensure the drilling position error not more than 50µm, the pulses of the encoder selected
should be equal to or more than 6280.
A single point positioning for DAP01 drive unit can be achieved by position values setting of
parameter PA58 in internal speed control mode; In external speed control mode, the 3 SP0, SP1,
SP2 input points are defined for combination input terminals of multiple point positioning selection:
positioning selection 0（SP0），positioning selection 1（SP1），positioning selection 2（SP2）. As

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GSK CNC EQUIPMENT CO,. LTD

following table shows, 8 positioning angles can be obtained by the combinations of these 3
terminals.

Table 5-2

Either internal speed or external speed control mode, the positioning operations are identical,
and the operating procedures by taking motor encoder as positioning encoder are as following:
1. Invoke the menu DP － APO, press key to display E xxxx , the sign ‘E’

indicates that the motor rotor is in a false position, whose value can’t be taken as a
reference.
2. Make the motor rotor to run at least for a rotation, DAP01 drive unit will automatically
search the correct position of the motor encoder. When this position is found, “DP－APO”
turns into
xxxx , it indicates the current correct encoder position is xxxx.

There are 2 ways to make the motor to run for a revolution:

A) Power the drive unit without giving enable signal to make the motor to stay in a
free state, manually rotate the motor rotor or spindle connected to the motor
rotor for at least a revolution;
B) Run the motor for at least a revolution in JOG mode. (see Section 5.2.2 for JOG
run)

3. Slowly adjust the motor rotor or spindle connected to the positioning point, then note its
DP－APO position and write it into parameter PA58 and save, then this parameter value is
the positioning location 1.
4. User can continuously adjust 8 positioning point and note their locations, and write them to
PA58～PA65 sequently（as Table 5－2）, so multiple point positioning can be performed in
external speed control mode.

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 CHAPTER 7 PROTECTION FUNCTIONS
5. Enable drive unit(input SON signal, and SFR signal together in external speed control
mode), whether or not servo motor is running, input positioning start signal（STAO）and
keep low level effective, servo motor begins to run at a speed set by parameter PA55,
after it finds the position point, it remains at this point and output the positioning
completion signal(COIN).
6. The upper machine executes the tool setting after it receives the COIN signal, and the
positioning start signal（STAO）is effective during tool changing. After the operation, the
positioning start signal must be cancelled for other operations.

The operation procedures by taking spindle encoder as positioning encoder is similar to the
operations above, except the first 3 steps, the rest steps are the same. The first 3 steps are as
follows:

1. Invoke the menu DP－SPO, press key, it displays E xxxx , the sign ‘E’ indicates

that the spindle is in a false positioning location, whose value can’t be taken as a reference.
2. Make the spindle to run at least a rotation, DAP01 drive unit will automatically search the
correct location of the spindle encoder. When this location is found, “DP－APO” turns

into
xxxx , it means the current correct encoder position is xxxx.
3. Slowly adjust the spindle to the positioning point, then note its DP－SPO location and write
it into parameter PA58 and save, then this parameter value will be the positioning
location 1.

The time sequence diagram for the complete positioning is as following:

„ Spindle positioning time sequence A (motor in running)

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Servo enable （SON）

Command signal （SFR/ SVR)

Positioning start signal （STAO）

Positioning Running
Running
speed speed
speed
Speed（n） 0 speed

Positioning completion （COIN）

t ≥0.5s

„ Spindle positioning time sequence B (motor at free or zero-speed)

Servo enable （SON）

Positioning start signal （STAO）

Positioning
speed
Speed（n） 0 speed

Positioning completion （COIN）

t ≥0.5s

5.4 Debugging and Parameter Adjustment

The relevant parameters adjustment is as following figure:

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 CHAPTER 7 PROTECTION FUNCTIONS

Relevant parameters adjustment

PA5 ： Proportional gain of speed loop Steady range（150-900）

① It is used to set the proportional gain of speed loop adjustor.
② The bigger the setting value is and the higher the gain is, the larger the rigidity is. The
value is determined by the specific servo unit model and the loading. Generally, the
bigger the load inertia is, the smaller the setting value is.
③ On the condition that no oscillation occurs in the system, set a larger value.

PA6 ： Speed loop integral gain Steady range（1～30）

① It is used to set the integral gain of speed loop adjustor.
② The bigger the setting value is and the faster the integration is, the larger the rigidity is.
The value is determined by the specific servo unit model and the loading. Generally, the
bigger the load inertia is, the smaller the setting value is.
③ Set a larger value on the condition that there is no oscillation in the system.

PA7 ： Low pass filtering coefficient of current command (reserved)

PA8 ： Low pass filtering coefficient of speed detection Steady range（40-1000）

① The smaller the setting is and the lower the cutoff frequency is, the better the filtering
effect is and the lower the noise by motor is. If the setting is too small, the lower response
and larger speed fluctuation may result in oscillation and severe motor shaking.
② The bigger the setting is and the higher the cutoff frequency is, the faster the speed
feedback response is. Properly increase the setting value if a higher speed response is
required.
③ Properly decrease the setting value if the loading inertia is too big.

PA43 ： External analog command filtering coefficient Steady range（20-4096）

① It is used to smoothly filter the speed command received.
② If this value is decreased, the filtering to the analog command will be increased. The
lower the cut-off frequency is, the better the filtering effect is and the lower the speed
command response is.
③ If this value is too large, the command disturbance and speed fluctuation rise and the
motor shake occurs.

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CHAPTER 6 PARAMETERS

This servo drive unit has various parameters that can be adjusted and set to meet the different
function requirement for performance, characteristics and so on by user. The user should make a
complete study of the parameters before searching, setting and adjusting them by the operator
panel.

6.1 Parameter List

Factory
No. Name Setting range Unit
setting
PA0 Password 0~9999 315
PA1 Motor model code 0~20 0
PA2 Software version (read only) 223
PA3 Initial display 0~24 0
PA4 Control mode selection 1~3 1
PA5 Speed proportional gain 1~3000 500 Hz
PA6 Speed integral time constant 0~1000 10
PA7 Reserved
PA8 Speed detecting low pass filter 10~1000 100
PA9 Position proportional gain 1~1000 40 1/s
PA10～ Reserved
PA20
PA21 JOG running speed -6000~6000 300 r/min
Internal and external speed
PA22 0~1 1
selection
PA23 Max. speed limit 0~20000 6000 r/min
PA24 Internal speed 1 -6000~6000 1000 r/min
PA25 Internal speed 2 -6000~6000 -500 r/min
PA26 Internal speed 3 -6000~6000 2000 r/min
PA27 Internal speed 4 -6000~6000 -3000 r/min

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 CHAPTER 7 PROTECTION FUNCTIONS

PA28 Internal speed 5 -6000~6000 5000 r/min

PA29 Internal speed 6 -6000~6000 3000 r/min
PA30 Internal speed 7 -6000~6000 10 r/min
PA31 Arrival speed 0~100 10 %
Zero-speed output threshold
PA32 0~100 10 r/min
value
PA33 Internal forcefully enable 0~1 0
PA34 Overload folds of motor current 10~300 200 %
PA35～ Reserved
PA38
PA39 Acceleration time constant 0~10000 1000 ms
PA40 Deceleration time constant 0~10000 1000 ms
PA41 Reserved
PA42 Motor max. speed of analog 10V 0~20000 6000 r/min
PA43 Analog command filter coefficient 1~600 100
Analog command zero-drift
PA44 -3000~3000 0
compensation
PA45 Analog command reversing 0~1 0
PA46 Analog input mode selection 0~1 0
PA47 SFR or SRV signal reversing 0~1 0
PA48 Motor type 0~1 1
PA49 Motor encoder pulses 128~8000 1024
Motor pole pairs Pole
PA50 1~8 2
pair
PA51 Motor rated speed 1~6000 1500 r/min
Asynchronous motor time
PA52 1~1000 160
constant
Asynchronous motor exciting
PA53 0~300 50 0.1A
current
Exciting current at 1.5 fold rated
PA54 0~300 25 0.1A
speed
PA55 Positioning speed 1~1000 100 r/min
PA56 Position window in locating 0~100 2 pulse
PA57 Positioning direction selection 0~2 0
PA58 Positioning location 1 0~30000 0 pulse

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PA59 Positioning location 2 0~30000 0 pulse

PA60 Positioning location 3 0~30000 0 pulse
PA61 Positioning location 4 0~30000 0 pulse
PA62 Positioning location 5 0~30000 0 pulse
PA63 Positioning location 6 0~30000 0 pulse
PA64 Positioning location 7 0~30000 0 pulse
PA65 Positioning location 8 0~30000 0 pulse
PA66 Positioning encoder selection 0~1 0
PA67 Spindle encoder pulses 128~8000 1024
Reversing spindle encoder signal
PA68 0~1 0
input direction
PA69 Encoder output selection 0~1 0
PA70 Reversing encoder output 0~1 0
4 frequency selection of encoder
PA71 0~1 0
output
PA72 Reversing alarm output 0~1 0
Shielding of motor overheat
PA73 0~1 0
alarm
PA74 Enable signal selection 0~1 0
Window of zero-speed analog
PA75 0~1000 0 r/min
command
PA76 Reserved
PA77 Reserved
PA78 Reserved
PA79 Reserved
PA80 Reserved

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6.2 Parameter Function Description

Parameter
Relevant
No. Name Function and meaning setting
parameter
range
① Set this parameter for user password 315
when a parameter is to be modified.
② For modification of motor model, the motor
PA 0 Password model parameter can only be modified after this 0~9999
parameter PA0 is set for model password 385.
③ The password restores to 315 if the unit is
repowed after power down.
① It corresponds to the different power drive
unit and motor of the same series.
② Because different motor model code
corresponds to different parameter default
value, the correctness of this parameter must
Motor
be ensured while using default parameter
PA 1 model 0~20
recovering function.
code
③ When EEPROM alarm (20#) occurs, this
parameter must be set again and recovering its
default value, or else the drive unit may run
abnormally or be damaged.

Software
version Software version can be looked up but can not
PA 2 223
(read be modified.
only)

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0: Motor speed display;

7: Motor torque display;
8: Motor current display;
10: Control mode display;
12: Speed command display;
13 : Torque command display;
15: Input terminal state display;
16: Output terminal state display;
17: Encoder input signal display;
18: Running state display;
19: Alarm code display;
20: DC bus voltage display;
21: Software version display;
22: Hardware version display;
24: Reserved.
Initial
display
(display
selection
PA 3 0~24
when the
servo unit
Annotation:
is
SON: servo enable
powered)
ARST: alarm reset signal
SFR: SFR/stop signal
SRV: SRV/stop signal
SP0, SP1, SP2: internal speed/positioning selection
duplex signal
STAO: positioning start signal
SELO: positioning direction selection
ZSL: 0-speed clamping signal
GIN: universal input signal
RDY: ready signal
COIN: positioning completion signal
SAR: speed arrival signal
ZSP: 0-speed output signal
SECT: motor excitation(used)
ALM: driver alarm signal

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 CHAPTER 7 PROTECTION FUNCTIONS

PA22:
Set the servo unit control mode by this
internal
Control parameter:
and
mode 1：Speed control mode, speed command 1~3
PA 4 external
selection input by VCMD+, VCMD- analog volume
speed
input terminals
selection
PA45:
analog
command
reversing
PA46:
Analog
input
mode
selection
PA47 ：
SFR and
SRV
signal
reversing
2：JOG mode (trial speed run)
PA21:
JOG run 3：JOG mode (JOG run)
speed
①Proportional gain set of speed loop
adjustor
②The bigger the setting value is, the
PA6:spee higher the gain is and the bigger the rigidity
Speed
d integral is. Parameter value is determined by
PA 5 proportion 10~3000Hz
time specific servo unit model and load.
al gain
constant Generally, the bigger the load inertia， the
smaller the setting value is.
③Set a bigger value if there is no
oscillation in the system.

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① Integral gain set of speed loop adjustor

The bigger the setting value is, the higher
the integral speed is and the bigger the
Speed rigidity is.
PA5: speed
integral ② Parameter value is determined by
PA 6 proportional 0~3000
time specific servo unit model and load.
gain
constant Generally, the bigger the load inertia， the
smaller the setting value is.
③ Set the bigger value if there is no
oscillation in the system.

①The smaller the setting value is and the

lower the cut-off frequency is, the more
effective the filtering is, the lower the motor
noise is. If the value is too small, oscillation
may be caused by increased speed
Speed
fluctuation and slow response and motor
detection
PA 8 shakes acutely. 20~1000
low pass
②The bigger the setting value is and the
filter
higher the cut-off frequency is, the quicker
the speed feedback response. If higher
speed response is needed, the setting value
may be increased appropriately.
③Properly reduce the setting value if load
inertia is too large.

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 CHAPTER 7 PROTECTION FUNCTIONS

①Proportional gain set of position loop

adjustor
②The bigger the setting value is, the higher
the gain is and the bigger the rigidity is, the
smaller the position lag is. But if the value is
Position too big, the oscillation or overshooting may
PA 9 proportional occur. 1~1000 1/s
gain ③Under the same condition, the larger the
setting value is, the faster the positioning is,
but motor shake or positioning failure may
occur in positioning if the value is too large.
The value is defined by special servo unit
model and loading.
JOG
-6000~6000
PA 21 running Running speed set in JOG mode
r/min
speed
①If it is set for 1, the speed command is
from external analog input
②If it is set for 1, the speed command is
from internal speed.

PA4： There are 8 combinations for the SP0, SP1,

control SP2 inputs. If all the inputs are off, the

mode motor is in zero excitation. And the other 7

Internal and selection internal speeds can be set by parameters,

which is shown in PA24～PA30.
external the
PA 22 0~1
speed parameter SP2 SP1 SP0 Internal speed

selection should be OFF OFF OFF 0r/min

set for 1 OFF OFF ON Internal speed 1
in this OFF ON OFF Internal speed 2
status OFF ON ON Internal speed 3
ON OFF OFF Internal speed 4
ON OFF ON Internal speed 5
ON ON OFF Internal speed 6
ON ON ON Internal speed 7

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① For max. speed set of spindle

motor
PA42： Max.
② It is irrelevant to rotation direction
motor speed
and applicable to both internal and
Max. speed corresponding 0~20000
PA 23 external speed.
limit to analog 10V r/min
③ If PA42≥PA23, the motor max.
generally，
speed is PA23.
PA42≤PA23
④ If PA42≤PA23, the motor max.
speed is PA42.
-6000～
Internal ①Internal speed 1 set
PA 24 6000
speed 1 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 2 set
PA 25 6000
speed 2 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 3 set
PA 26 6000
speed 3 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 4 set
PA 27 6000
speed 4 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 5 set
PA 28 6000
speed 5 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 6 set
PA 29 6000
speed 6 ②See PA22 for details.
r/min
-6000～
Internal ①Internal speed 7 set
PA 30 6000
speed 7 ②See PA22 for details.
r/min

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①Arrival speed set.

②In speed mode, when the actual speed of
the spindle motor gets the setting range of
the command speed, speed arrival signal is
output. The setting is adjustable in the 0%～
100％ range of the command speed. e.g. if
PA 31 Arrival speed it is set for 10％, then the setting value is 0～100%
10. When the speed command is
1000r/min, the speed arrival (SAR)signal is
output for the actual speed 900r/min ～
1100r/min.
③ It is irrelevant with the spindle motor
rotation direction.
Zero-speed
If the actual speed is less than or equal to
output 0～100
PA 32 zero-speed output threshold value,
threshold r/min
zero-speed output (ZSP) signal is valid.
value
①If it is set for 0, the internal enable is
invalid.
Internal ②If it is set for 1, the signal is forcefully
PA 33 forcefully enabled, the motor is excited if PA4＝2 or 0～1
enable 3,SFR OR SRV signal is needed to be
added for excitation with no need of
external enable signal input if PA4=1.
①For the motor overload coefficient setting.
The setting value is the percentage of the
Overload folds rated current. E.g. If it is set for the double
PA 34 10~300
of motor curren rated current, the value is 200. Unit:%
②This parameter value determines the
maximum torque output by the motor.
①For linear acceleration time setting in
Acceleration Speed control mode
PA 39 0～10000
time constant ②Its value is equal to the time the motor
accelerates from 0 to the rated speed.

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①For linear deceleration time setting in

Speed control mode
Deceleration
PA 40 ②Its value is equal to the time the motor 0～10000
time constant
decelerates from 0 to the rated speed.

①It is used to set the maximum speed

under a 10V analog voltage, and it is
Motor max. PA23：
irrelevant to the rotation direction. 0～20000
PA 42 speed of maximum
②If the speed command exceeds the r/min
analog 10V speed limit
maximum speed, the actual speed is the
maximum speed.
①For smoothly filtering the speed
command received
②If the value is reduced, the analog
Analog command filtering will be increased, the
command lower the cut-off frequency is, the higher the
PA 43 1～600
filter filtering effect is, and the speed command
coefficient response becomes slower.
③If the value is too large, the disturbance
and speed fluctuation increase, and it will
cause motor shaking.
Analog
command For user analog command error -3000～
PA 44
zero-drift compensation 3000
compensation

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 CHAPTER 7 PROTECTION FUNCTIONS

PA4：control
mode ①If set for 1, for PA46=1: when PA47=0,
selection the motor runs forward for the SFR signal,
PA22： reversely for SRV signal; when PA47=1,
internal and the motor runs reversely for the SFR signal,
external forward for SRV signal;
speed ②If set for 1, when PA46=0, the motor runs
Reversing
selection forward for the positive analog command,
PA 45 analog 0～1
PA46： and reversely for the negative;
command
analog input ③ If set for 0, when PA46=1, the motor
mode doesn’t run whether for forward signal or
selection reverse signal;
PA47： ④If set for 0, when PA46=0, the motor runs
reversing reversely for the positive analog command,
SFR and and forward for the negative.
SRV signal
PA4：control
mode
selection
PA22：
internal and
external
speed ① If set for 1, the external analog input
Analog
selection voltage is 0~+10VDC;
PA 46 input mode 0～1
PA45： ②If set for 0, the external analog input
selection
reversing command voltage is -10VDC ~+10VDC
analog
command
PA47：
reversing
SFR and
SRV signal

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PA4：
①Valid when PA46＝1, for SFR and SRV
control
signal exchange;
mode
②When PA47 ＝ 0, motor forward for
selection
enabling SFR signal, reversely for enabling
PA22：
SRV signal;
internal and
③ When PA47 ＝ 1, motor reversely for
external
enabling SFR signal, forward for enabling
PA 47 Reversing speed
SRV signal.
SFR or SRV selection 0～1
signal PA45：
reversing
analog
command
PA46：
analog
input mode
selection
① If set for 0, the control object is
synchronous motor, 0 setting is
PA48 Motor type unallowable; 0～1
②If set for 1, the control object is spindle
motor, it’s a default setting.
Motor
128～
PA49 encoder This parameter must be set correctly.
8000
pulses
Motor pole pair, 1 pole pair =2 poles pole
Motor pole number=2×pole pairs, the unit is pole pair.
PA50 1～8
pairs Note the conversion for the pole number
marked on motor nameplate.

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 CHAPTER 7 PROTECTION FUNCTIONS

Motor rated
PA 51 It is from motor nameplate. 1～6000
speed
Asynchronous
PA 52 motor time Asynchronous motor time constant 1～1000
constant
Asynchronous
PA 53 motor exciting Asynchronous motor excitation current 1～300
current
Exciting current
PA 54 at 1.5 fold rated Excitation current at 1.5 fold rated speed 1～300
speed
For searching fixed position (parameter
Positioning
PA 55 settable) by positioning speed in positioning 1～1000
speed
Refer to parameter PA57.
① In positioning, the spindle searches Z
pulse by positioning speed, then searches
the position to be located, positioning
completion（COIN）signal is given while the
Positioning
error of the position to be searched is within
PA 56 window in 0～100
the positioning window.
positioning
②The bigger the setting value is, the larger
the error is; the smaller the setting value is,
the more unsteady the positioning
completion（COIN）signal is.

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① Set for 0, for random positioning. i.e.

positive positioning speed is used for motor
forward, negative for reverse. The figure is
shown as following:

Note: Curve A means that if the running

speed is larger than the positioning
speed, motor decreases to positioning
speed, after the positioning position is
found, the motor decelerates till the
positioning is completed. So curve B
means that the running speed is less
than the positioning speed, the motor
Positioning accelerates to the positioning speed, and
PA 57 direction then complete the positioning. 10～300
selection ② Set for 1, for negative positioning. i.e.
regardless the motor running direction, the
motor locates by the negative positioning
speed. The figure is shown as following:

③ Set for 2, for positive positioning. i.e.

regardless the motor running direction, the
motor locates by the positive positioning
speed. The figure is shown as following:

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 CHAPTER 7 PROTECTION FUNCTIONS

There are 3 input interfaces which provide 8

combinations to support 8 point positioning, and the
PA 58
positioning locations are defined by PA58～PA65.
It is shown as following:

SP2 SP1 SP0 Positioning location

Positioning
OFF OFF OFF Positioning location 1 0～30000
location 1
Positioning
PA 59 OFF OFF ON Positioning location 2 0～30000
location 2
Positioning
PA 60 OFF ON OFF Positioning location 3 0～30000
location 3
Positioning
PA 61 OFF ON ON Positioning location 4 0～30000
location 4
Positioning
PA 62 ON OFF OFF Positioning location 5 0～30000
location 5
Positioning
PA 63 ON OFF ON Positioning location 6 0～30000
location 6
Positioning
PA 64 ON ON OFF Positioning location 7 0～30000
location 7
Positioning
PA 65 ON ON ON Positioning location 8 0～30000
location 8

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6.3 Motor Model Code Parameter Correspondence Table

PA1 parameter correspondence table for spindle motors

PA1
Spindle motor model and technical parameters Remarks
parameter
0 GM7101-4SB6□，3.7KW, 6000r/min，0.02kg.m2
1 GM7103-4SB6□，5.5KW, 6000r/min, 0.02kg.m2
2 GM7105-4SB6□，7.5KW, 6000r/min, 0.032kg.m2
3 GM7131-4SB6□，11KW, 6000r/min, 0.076kg.m2
4 GM7103-4SC6□，7.5KW, 9000r/min, 0.02kg.m2 Basic speed
2000r/min
5
6
7
8
9
10 YPNC-50-3.7-B, 3.7kw,380V, 6000r/min, 8.0A, 24.0N.m
11 YPNC-50-5.5-B, 5.5kw,380V, 6000r/min, 11.8A, 36.0N.m
12 YPNC-50-7.5-B, 7.5kw,380V, 6000r/min, 16.0A, 49.0N.m
13 YPNC-50-11-B, 11kw, 380V, 6000r/min, 21.3A, 72.0N.m
14
15
16
17
18
19
20
21
22

① □ stands for motor installation type, which may be 1,3,6. See section 8.1.

② The motor models are not fully listed in above table, see special explanations
for other motor models suited.

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CHAPTER 7 PROTECTION FUNCTIONS

There are many protection functions such as overheat protection, overcurrent protection,
over-voltage protection for this DAP01 AC spindle servo drive unit. While alarming occurs, the motor
stops. In the meantime, alarm code is being displayed on the LED display panel. Only the fault is
exterminated by operator according to the alarm code displayed, can the device be put into use. It is
at least 10 minutes for the servo drive unit and spindle motor to be touched after they are powered
off to prevent from electric shock and burning.

7.1 Alarm List

Alarm
Alarm name Content
code

Er-- Normal

The spindle motor speed exceeding its setting

Er--1 Motor overspeed
value

Er--2 Main circuit over-voltage Main power voltage too high

Er--3 Main circuit under-voltage Main power voltage too low

Er--5 Motor overheated Motor temperature too high

Abnormity of SFR and SRV

Er--7 SFR and SRV signal ON simultaneously
signal I/O

Er--9 Motor encoder fault Motor encoder signal error

Er--11 IPM module fault IPM intelligent module fault

Er--13 Over- loading Motor overloaded

Er--14 Brake fault Brake circuit fault

Spindle servo drive unit and motor overloaded

Er--16 Motor overheating
(instant overheating)

Er--17 Braking time too long It occurring if discharge time too long

Er--18 Braking circuit fault 1 There is raking signal, but no braking feedback

There is no braking signal, but braking

Er--19 Braking circuit fault 2
feedback

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Er--20 EEPROM error EEPROM error

Er--23 Current error too large Current feedback zero drift too large

Er--24 Spindle encoder fault Spindle encoder signal error

Er--25 Positioning fail Positioning location can not be found

Er--26 Radiator overheating Radiator fan temperature too high

Er--27 U, V, W connection error U, V, W phase sequence incorrect

Software upgrade parameter Parameters not adjusted and saved after

Er--28
error software upgrade
Power on parameter Parameter detected as power is supplied but
Er--29
detection error not within setting range

7.2 Alarm Troubleshootings

Alarm Running
Alarm name Cause Remedy
code state
Occurring in
①Change servo drive
switching
①Control circuit board fault unit.
on control
②Encoder fault ②Change spindle
power
motor.
supply
Motor overload Decrease load.
① Acceleration/deceleration
①Increase
time constant is too small
Motor acceleration/
which will cause too large
Er-1 overspeed deceleration time
speed overshooting.
constant
Occurring in ② The gain adjustment
②Readjust the gain for
motor parameter is not
the overshooting.
running appropriate.
Encoder fault Change the encoder.
Change the encoder
Encoder cable is inferior or cable or connect
connection is wrong. correctly by the wiring
diagram.

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Occurring in ①Power supply voltage is

switching too high.
Check power supply.
on power ②Power supply voltage
supply wave is abnormal.

The brake resistance is not

connected that cause the Connect it again.
pumping voltage too high.
①Brake components are ①Change the
damaged. components damaged.
Main circuit ②Brake resistance is ②Change the brake
Er-2
over-voltage damaged. resistance.
Occurring in ①Reduce the on-off
motor frequency.
running ②Increase
deceleration time
The brake resistance value constant.
is not suitable. ③Reduce torque limit.
④Reduce load inertia.
⑤Change for the
power suited brake
resistance.
① Soft start circuit fault Change the servo drive
② Rectifier is damaged. unit.
Occurring in
① Power supply voltage is
switching
on main low.
power ② Instantaneous power-off
Check power supply.
supply occurs.
Main circuit ③ The input power voltage
Er-3 under-voltage fluctuation is too large.
① Power capacity is not
enough.
Occurring in ② Instantaneous power
motor down Check power supply.
running ③The input power terminals
are loosen or input power
lacks phases.

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There’s no thermal
Occurring in Set PA73 for 1 to
protection switch inside the
switching shield the alarm.
motor body.
on control
① Cable is broken off. ① Check the cables.
power
② Internal thermal switch of ② Check the spindle
supply
motor is damaged. motor.
①Reduce the load.
②Reduce the on-off
Motor frequency.
Er-5 overheated ③Increase the
acceleration/decelerati
Occurring in
Motor is overloaded. on time.
motor
④Increase the drive
running
unit and motor
capacity.
⑤Reduce the
ambient temperature.
Change the spindle
Motor interior is at fault.
motor.
Abnormity of SFR and SRV signal
SFR and SRV signal are
Er-7 SFR and SRV can’t be input
both ON.
signal I/O simultaneously.
Motor encoder connection Check the
is broke off. connection.
Change the motor
Motor encoder is damaged.
encoder.

Motor encoder Motor encoder cable is

Er-9 Change the cable.
fault inferior.

① Shorten the cables.

Motor encoder cables are
② Employ with
so long that the encoder
multi-core parallel
voltage is too low.
power supply.

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 CHAPTER 7 PROTECTION FUNCTIONS

Occurring in
switching
Change the servo drive
on control Circuit board is at fault.
unit.
power
supply
①Control power voltage is ① Check the servo
low. drive unit.
②IPM module is ② Check whether the
overheated. cooling fan is at
IPM module ③IPM module is normal.
Er-11
fault overcurrent. ③Correct the loading.
Occurring in Drive unit U, V, W Check the
motor terminals are short circuit. connection.
running Earthing is not well done. Be grounded correctly.
Motor insulation is Change the spindle
damaged. motor.
①Add the circuit filter.
②Be far away from
It is interfered with.
the interference
source.
Drive unit U, V, W
Check the connection.
terminals are short circuit.
Earthing is not well done. Be grounded correctly.
Occurring in
Loading is increased
Er-13 Overloading motor Reduce the loading.
abruptly.
running
Motor oscillation or
abnormal noise occurs due Readjust gain.
to improper gain setting.

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The main power voltage is

Check the main power.
too high.
Brake resistance
Connect it again.
connection is broken off.
① Brake transistor is
damaged. Change the servo drive
② Internal brake resistance unit.
is damaged.
Occurring in
①Reduce the on-off
Er-14 Brake fault motor
frequency.
running
②Increase the
deceleration time
Brake loop capacity is not constant.
enough. ③Reduce the load
inertia.
④Replace the drive
unit and motor with
larger power ones.
①Reduce the load.
②Reduce the on-off
①Running exceeding rated frequency.
torque ③Increase the
②Long time motor overheating time.
overloading ④Replace the driver
Occurring in
Motor and motor with the
Er-16 motor
overheating larger power ones.
running
① Adjust gain.
② Increase
acceleration/
Motor oscillates unsteadily.
deceleration time
constant.
③ Reduce load inertia.

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 CHAPTER 7 PROTECTION FUNCTIONS

① Brake resistance is
not connected.
Pumping time DC bus voltage exceeding ② Increase brake
Er-17 In braking
too long pumping voltage too long resistance capacity.
③ External input
voltage is too high.
Braking circuit There being brake signal，
Er-18 Refer to Er-14.
fault 1 but no brake feedback
There being brake
Braking circuit
Er-19 feedback ， but no brake Refer to Er-14.
fault 2
signal
① Change the servo
①Chip or circuit board fault
drive unit.
Occurring in ②Not initialized
② After reparation, the
switching ③EEPROM reading data
EEPROM drive unit model must
Er-20 on control damaged as power is
error be re-specified (by
power supplied
parameter PA-1), then
supply
restore the default
parameters.
Chip or circuit board is Change the servo drive
damaged. unit.
Change the current
Current sensor is damaged.
sensor.
Current error
Er-23 ① Current feedback drift is ①Make zero
too large
too large. adjustment.
②The voltage of the control ②Adjust parameters.
power for detecting chips ③Check the control
not within a valid range power voltage.

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Spindle encoder connection

Check connection.
is wrong.
Spindle encoder is Change the spindle
damaged. encoder.
PA66=1, without
Spindle Parameter setting is wrong. spindle encoder
Er-24
encoder fault positioning.
① Shorten the cables.
Spindle encoder cables are ② Employ with
too long that cause the multi-core parallel
encoder supply voltage low cables for power
supply.
① Check Z pulse of
the encoder feedback
①Positioning location can’t
signal or cables.
be found.
In ② Check the
Er-25 Positioning fail ② Parameter setting not
positioning consistency of
correct as positioning by
feedback encoder and
spindle encoder
positioning encoder
selected by parameter.
① The temperature of
radiator fins exceeding the ①Reduce the load or
setting value, which causes cut off the power to
the thermal switch broken cool the module.
Radiator
Er-26 off. ②Change the thermal
overheating
② Temperature switch switch.
damaged ③Be far away from
③ It is interfered with interference source.

①Connect them
Occurring in
correctly.
U, V, W switching
②Exchange any two
Er--27 connection on control Phase sequence not correct
phases.
error power
③Refer to the wiring
supply
table in section 3.3.2.

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 CHAPTER 7 PROTECTION FUNCTIONS

Occurring in
Software
switching Parameter not adjusted and
upgrade Readjust and save
Er--28 on control saved after software
parameter parameters.
power upgrade.
error
supply
Occurring in
Power on switching Parameter value detected
Check the parameter
Er--29 parameter on control as power is supplied not
range.
detection error power within the setting range
supply

7.3 Maintenance and Reparation

The spindle servo drive unit is mainly comprised by semiconductor components. Their
performance varies with the ambient temperature, humidity, dust, dirt and shake, therefore proper
daily maintenance and reparation are necessarily needed.

Make check as following:

1) Check abnormal shaking, noise, and smell of the running motor.
2) Check the running, abnormal shaking, noise, or the parts fastness of the cooling fan.
3) Check the surrounding environment change, especially whether the vent hole is blocked by dirt.
4) Check the screws and bolts fastness and the terminal blocks due to the temperature variation
and the shake.
5) Check the insulation resistances between the terminals or the terminal-to-earth according to a
relevant standard.

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CHAPTER 8 SUITED SPINDLE SERVO MOTOR

8.1 GSK Spindle Servo Motor

The main technical parameters and outline dimensions of the motors are shown in the following
table:

Specification
ZJY132-2.2 ZJY132-3.7 ZJY132-5.5 ZJY132-7.5 ZJY160-7.5 ZJY160-11 ZJY160-15
Items
Rated power
2.2 3.7 5.5 7.5 7.5 11 15
（kW）
Rated voltage
3-phase AC 340 3-phase AC 330
（V）
Rated current
5.7 8.9 13.2 17.3 18 26 35
（A）
Rated
50 50 50 50 50 50 50
frequency（Hz）
Rated torque
14 24 35 48 49 72 98
（N·m）
30 min power
3.7 5.5 7.5 11 11 15 18.5
（kW）
30 min current
9.4 13 17.1 25 26 34 42
（A）
30 min torque
24 35 48 70 74 100 123
（N·m）
Rated speed
1500 1500 1500 1500 1500 1500 1500
（r/min）
Constant
power range 1500～8000 1500～6000
（r/min）
Maximum
10000 10000 10000 8000 7000 7000 7000
speed（r/min）
Rotation inertia
0.0103 0.0168 0.0238 0.0309 0.0413 0.0744 0.0826
（kg·m2）

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 CHAPTER 8 SUITED SPINDLE SERVO MOTOR

Specification
ZJY132-2.2 ZJY132-3.7 ZJY132-5.5 ZJY132-7.5 ZJY160-7.5 ZJY160-11 ZJY160-15
Items
Weight
49 51 66 77 89 107.2 125
（kg）
Installation IM B5 or IM B5 or B35 （GB/T
IM B5
type B35 997—2003）
Protection
IP54（GB/T 4942.1—2001）
degree
Insulation
F （GB 1094.3—2003）
degree
Vibration
R （GB 10068—2000）
degree
Internal
Incremental 1024～5000 p/r/
encoder
Air conditioner
3-phase AC 380
power（V）
A 208 208 208 208 264 264 264
B 104 104 104 104 132 132 132
C 188 188 188 188 216 216 216
D 215 215 215 215 265 265 265
E 60 60 80 110 110 110 110
F 351 401 456 511 425 470 515
G 363 413 468 523 436 481 526
H 180 180 180 180 230 230 230
I 15 15 15 15 15 15 15
Outline J 28 28 32 38 48 48 48
dimensions K 220 —— —— —— 290 290 290
L 132 —— —— —— 160 160 160
M 72 —— —— —— 95 95 95
N 95 —— —— —— 127 127 127
P 70 —— —— —— 108 108 108
Q 114 —— —— —— 160 160 178
R 35 —— —— —— 50 50 50
S 184 —— —— —— 241 241 259
T —— —— —— —— 14 14 14
U —— —— —— —— 97 97 97
Z 12 —— —— —— 15 15 15

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E F A

C
ΦH
ΦJ

U
T

B
ΦD
G 4-ΦI 45°

Flange installation pattern（B5）

E F A

C
ΦJ

P Q 4-ΦZ M M
R S N N
G K

Flange basement installation pattern（B35）

An example: ZJY132-7.5B5

ZJY 132 - 7.5 B5

Installation formation type：（B5 or B35）

Rated power（unit kW）；
Foundation No.；
Spindle servo motor (spindle AC asynchronous
servo motor)

B5 ——— flange installation，no foundation

B35 ——— flange, foundation type

The motor 3 phase U, V, W windings and the shell (grounded) are led out by the cable fixation
ends, and their locations in the connection box are shown in the following figure. In the figure the 3

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 CHAPTER 8 SUITED SPINDLE SERVO MOTOR

phase U, V, W windings and the shell (grounded) are connected to the U, V, W, PE terminals of the
unit main circuit correspondingly. The wind from the air conditioner is blown from the shaft to the
other end.

Air conditioner Motor

connection connection
block block

Grounding
screw
U V W
U V W
Encoder
socket Cable fixer

Encoder Shell
VCC GND A A B B Z Z
lead-out （grounded）
Socket No. 1 2 3 4 7 5 8 6 9

2 1
5 3
6

8.2 GOLDEN AGE Spindle Motor

Motor technical data

Rated Rated Rated Rated Maximum Rotation

Weight
Model power torque current speed speed inertia
kg
kW Nm A r/min r/min kgm2
GM7101-4SB61 3.7 23.6 10 1500 6000/9000 0.02 35
GM7103-4SB61 5.5 35 13 1500 6000/9000 0.02 55
GM7105-4SB61 7.5 47.8 18.8 1500 6000/8000 0.032 93
GM7131-4SB61 11 70 24 1500 6000/8000 0.076 93

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Motor installation outline and dimensions Unit (mm)

Model K
GM7101 405
GM7103 405
GM7105 500
GM7107 500
GM7109 540

Model K
GM7130 430
GM7131 510
GM7132 430
GM7133 510
GM7135 595

The pin-out of the photoelectric encoder is led out by a 15-core connector whose
correspondence is shown as following table. The pin-out should be connected to the plug of the
servo unit feedback signal CN2.

Encoder connection table

Encoder
Shell(grounded） VCC GND A+ A- B+ B- Z+
pin-out
Socket No. 1 12 13 2 3 4 5 16
Encoder
Z- OH1 OH2
pin-out
Socket No. 17 14 15

2 1
5 3
6

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 CHAPTER 8 SUITED SPINDLE SERVO MOTOR

No.14, 15 pins are the output terminals of the motor internal thermal protection switch.
While there is no such switch inside the motor, No.5 overheating alarm occurs after
power-on. Please set parameter PA73 for 1 to shield the alarm, then save the setting
and re-power the unit.

Fig.8.1 Encoder signal cable dimension Unit: mm

Model significance of GOLDEN AGE GM7 series frequency conversion (spindle) motor:
GM7 10 1 — 4 S B 6 1— O Y

Motor
poles, 4
means 4
poles
GM7 series AC Code Shaft extension
servo frequency Code Installation type
Motor None standard
conversion specificatio 1 1M B5 Y special
(spindle) motor n code 3 1M B3
6 1M B35
Central height
(integer part of
the height
divided by10） Code Power voltage
3-phase AC380V
6
power

Code Rated speed

Code Cooling type Code Feedback component

S Forced cooling B 1500 1024p/r (square wave

O
encoder)

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8.3 CEMA Spindle Servo Motor

Motor technical data

Motor output Rated Maximum Rated Current at 380V

Motor
power speed speed torque (A)
specification
100% 150% r/min r/min N.m 100% 150%

YPNC-50-3.7-B 3.7 5.5 1500 6000 24.0 8.0 12.5

YPNC-50-5.5-B 5.5 7.5 1500 6000 36.0 11.8 15.5
YPNC-50-7.5-B 7.5 11.0 1500 6000 49.0 16.0 23.0
YPNC-50-11-B 11.0 15.0 1500 6000 72.0 21.3 30.5

Motor installation dimensions

Motor installation outline: unit (mm)

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 CHAPTER 8 SUITED SPINDLE SERVO MOTOR

Motor installation dimensions form

YPNC-50-3.7-B YPNC-50-5.5-B YPNC-50-7.5-B YPNC-50-11-B

M 215 265 265 300
Vertical N 180 230 230 250
dimensions P 250 300 300 350
（B5） T 4 4 4 5
S 4-φ15 4-φ15 4-φ15 4-φ19
A 190 216 216 254
Horizontal B 140 140 178 210
dimensions C 70 89 89 108
（B3） K 12 12 12 15
H 112 132 132 160
Outline AB 245 280 280 330
dimensions AD 190 210 210 265
（no more AC 240 275 275 335
than） L 459 528 568 715
F×GD 8×7 10×8 10×8 12×8
Shaft DH M10×20 M12×24 M12×24 M16×32
extension D 28 38 38 42
dimensions G 24 33 33 37
E 60 80 80 110

Connection table for CEMA spindle motor encoder

Pin-out 1 2 3 4 7 5 8 6 9

Mark PE Vcc GND A+ A- B+ B- Z+ Z-

3 2 1

7 6 5 4

10 9 8

Plug schematic map

（welding side）

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Model significance of Shanghai CEMA YPNC series motor:

YPNC — 50 — 5.5 — B （E）

E：with encoder

B：strong overload series

Rated output power，unit: kW

Basic frequency，unit: Hz

Special frequency conversion motor for spindle

Connections of several model motor encoders are listed above, more are unlisted. If user want
to use other model spindle motor, pay attention to the connections of power jack and encoder socket
as well as the motor use criterion and requirement.

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