Xinje DS5K Series User Manual

Because it can only rotate in one direction, after a certain period of time, the number of revolving
cycles will always exceed the upper limit of absolute value encoder.
Servo motor
series
Resolution
(single-circle
data)
Rotating Circle
Serial Data
Output range
Operation of overtime
CM/T
17
-32768~32767
When it is higher than the upper limit value
in the forward direction (+32767*2^ 17):
Rotation serial data = 32767*2^17
When it is below the lower limit of reversal
direction (-32768*2^ 17):
Rotation Serial Data=-32767*2^17
TL
23
When it is higher than the upper limit value
in the forward direction (+32767*2^23):
Rotation serial data = 32767*2^23
When it is below the lower limit of reversal
direction (-32768*2^ 23):
Rotation Serial Data=-32767*2^23
5.6.4 Read absolute position through communication
Basic parameters
User
parameter
Name
Use
U0-10
encoder feedback value
Absolute value single-turn position, read 0x100A and
0x100B hexadecimal address through Modbus RTU,
U0-10+ U0-11*10000 is present encoder single-turn
position
U0-11
U0-91
present turns of multi-turn
absolute
Read 0x105B hex address through ModbusRTU, which
is the current number of encoder turns;
U0-57
absolute encoder present
position feedback low 32-bit
Read 0x1039 hex address through ModbusRTU
doubleword, which is the current encoder position, with
positive and negative pulses;
U0-58
U0-59
absolute encoder present
position feedback high 32-bit
Read 0x103B hexadecimal address through
ModbusRTU doubleword, which is the high bit of
current encoder and needs to add the low bit data;
U0-60
Servo driver transmits position data information of encoder through RS485 port and Modbus RTU
protocol.
◼ 17-bit absolute value encoder has 131072 pulses per cycle.
First read the U0-60 (0x103C) value
(1) 0 means running in the positive direction. The current position of the encoder is
U0-57*1+U0-58*2^16.
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Xinje DS5K Series Specifications

General

Category	Servo Drives
Model	DS5K Series
Control Mode	Position control, Speed control, Torque control
Communication Interface	CANopen
Position Control Mode	CW/CCW
Feedback	Incremental Encoder, Absolute Encoder
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to +70°C
Vibration Resistance	5.9 m/s² (10-55Hz)
Installation Altitude	Below 1000m
Input Voltage	Single/Three-phase 220VAC or Three-phase 380VAC (depending on the specific model)
Humidity	Less than 90%RH (non-condensing)

Summary

Safety Precautions

Attention to Product Confirmation

Details checks required for product integrity upon arrival.

Installation Notes

Provides essential notes for safe and correct installation.

Cautions for wiring

Outlines critical safety warnings related to electrical wiring.

Operation Cautions

Maintenance and inspection

Advises on safety during maintenance and inspection procedures.

1 SELECTION OF SERVO SYSTEM

1.1 SELECTION OF SERVO DRIVER

Details how to select the correct servo driver model.

1.2 SERVO MOTOR SELECTION

Provides guidance on selecting the appropriate servo motor.

Confirmation on Product Arrival

2 Installation of servo system

2.1 Servo driver installation

Covers the correct procedure for installing the servo driver.

2.2 Servo motor installation

Explains the installation process for the servo motor.

2.3 Servo cable installation

3 Servo system wiring

3.1 Main circuit wiring

Explains the wiring of the main circuit connections.

3.2 Classification and function of signal terminals

4 Operate panel

4.1 Basic operation

Covers the fundamental operations of the operate panel.

4.2 Operation display

Explains the various display contents and codes.

4.5 Fault alarm handling

5 Operation of servo system

5.1 Control mode selection and switching

Explains how to select and switch servo control modes.

5.2 Basic function setting

5.2.5 Power-off brake

5.2.6 Braking setting

5.3 Position control

5.3.1 General position control

Covers the general principles of position control.

5.3.1.8 Reference origin

5.3.1.9 Homing function

5.3.1.10 Interruption fixed length (firmware 3770 and up)

5.3.2 Position control (external pulse command)

5.3.2.1 External pulse position mode

Explains the external pulse position mode operation.

5.3.3 Position control (Internal command)

5.3.3.1 Internal position mode

Explains the internal position mode settings.

5.4 Speed control

5.4.1 Speed mode general control

Explains general controls for speed modes.

5.4.2 Speed control (internal speed)

5.4.3 Speed control (pulse frequency command)

5.4.3.1 External pulse speed mode

Explains the external pulse speed mode.

5.5 Torque control

5.5.1 Torque general mode

Explains general torque control modes.

5.6 Absolute value system

5.6.4 Read absolute position through communication

5.6.5 Reset absolute position

5.6.6 Zero calibration of absolute encoder

5.6.7 Homing application

5.7 Auxiliary functions

5.7.1 Anti-blocking protection

Explains the anti-blocking protection feature.

5.7.2 Torque limit

Details the torque limit settings.

5.7.4 I/O signal distribution

Explains the distribution of I/O signals.

5.7.5 Output terminal function

5.7.6 Input terminal function

5.7.7 Time limit curve of overload protection

5.8 Encoder ABZ phase frequency division output

6 Servo gain adjustment

6.1 Overview of servo gain adjustment

Provides an overview of the servo gain adjustment process.

6.2 Rotary inertia presumption

6.3 Fast adjustment

6.4 Auto-tuning

6.4.1 Overview

Provides an overview of auto-tuning functions.

6.5 Manual adjustment

6.5.3 Gain parameters for adjustment

Details the specific gain parameters for adjustment.

6.6 Adaptive

6.7 Vibration suppression

6.7.1 Overview

Provides an overview of vibration suppression techniques.

6.7.7 Notch filter

6.8 Gain adjustment

6.8.1 Model loop control

Explains the model loop control for servo response.

6.8.3 Gain adjustment parameters

Details the specific gain parameters for adjustment.

6.9 Gain adjustment

7 Alarm

7.1 Alarm code list

Lists all alarm codes and their explanations.

7.2 Analysis of alarm types

8 Modbus-RTU communication

8.1 Communication wiring

Details the wiring for Modbus-RTU communication.

8.2 Communication parameters

8.3 Communication protocol

8.4 Communication example

8.4.1 Communication with Xinje PLC

Illustrates communication setup with Xinje PLC.

Appendix 4. Modbus address list

Appendix 6. General debugging steps

Appendix 7. Application example

Appendix 8. Servo general mode parameters

Appendix 8.1 Basic parameters

Covers fundamental servo system parameters.

Appendix 8.2 External pulse position mode general parameters

Lists general parameters for external pulse position mode.

Appendix 8.3 Internal position mode general parameters

Lists general parameters for internal position mode.

Appendix 8.4 Internal torque control general parameters

Lists general parameters for internal torque control.

Appendix 8.5 Internal speed control general parameters

Appendix 8.6 External pulse speed control general parameters

Appendix 10. List of model selection and configuration