Manual GSK

This user manual describes all proceedings concerning the
operations of GR-L Series Bus AC Servo 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. And 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.
I
GR-L Series Bus AC
A Servo Drivve Unit Userr Manual
PR
REFACE
xcellency,
Your Ex
It’s our ple

easure forr your pattronage and
a purchase the p
product made
m by
GSK
G CNC Equipmen
nt Co., Ltd
d.
Th
his manua
al is detailed the ca
apacity, in
nstallation
n, connecttion, debu
ugging,
use an
nd mainten
nance etc. of GR-L series bus
s AC servo drive un
nit.
In
n order to guarantee
e the safetty of the produce,
p and
a its effeective worrking, it
is
s better to
o carefully
y read this
s manual b
before ins
stalling or using thiss product..
In orde
er to preve
ent the op
perator an
nd other personnel
p from hurrting, as well
w the
damage
d in
n the mec
chanical equipment
e t, especia
ally note the
t follow
wing warn marks
when
w read
ding this manual.
m
Danger Incorrectt operation

n may result in death or severe injury.
Caution Operating the macchine inco

orrectly ma
ay result inn injured or
o flesh
wounded
d, as well a
as the loss in materia
al.
Noticce If the approved pro

ocedure is
s not obse
erved, it m
may resultt in the
machine behaving unexpecte
edly.
It remind
ds the vita
al requirem
ment and important indication for the
user
It means
s Forbiddan
nce (Absollutely can not
n be donne).
It means
s Compulsiion (Must be
b done).
III
Prreface & prec
cautions
Dan
nger
Tigghten each h wiring terrminal of th

he
Install the servo u
unit on the
ma ain circuit b
by approprriate
incomb bustible obbject and fa
ar from
strrength the flam
mmable maatters .
If th
he approved innstruction is n
not
! !
If the approoved instructio
on is not
obsserved, it may y cause fire du
ue
observed , iit may cause fire
to t he loose wirin
ng, and easilyy
hazard .
brinng fire hazard .
The ea
arthing term
minal PE off the
C
Confirm the
e input powwer is on th
he
servo unit
u should d be groun
nded.
O
OFF state b
before wirin
ng .
! !
If th
he approved in
nstruction is n
not If the approoved instructio
on is not
obsserved, it may
y cause electrric observed , iit may cause electric
sho ock. shock.
The wiring and

a inspec
ction shoulld The mov vement, wi
wiring, inspection
be
e performeed by the qualified
q or mainttenance caan be perfo ormed
professionaal personneel. after its power is tu
urned off for
f
5min.
! !
If th
he approved in nstruction is n
on is not
obsserved, it may y cause electrric observed , itt may cause electric
sho ock or fire haz
zard . shock.
S
Strictly connect basedd upon the
e It is very
y importan
nt to tighten
n up
w
wiring methhod in the user
u the pow wer and mootor outputt
m
manual. terminals.
If t he approved instruction is n
not
! !
If the approoved instructio
on is not
obsserved, it mayy cause
observed , iit may cause fire
equ uipment beingg damaged or
hazard .
eleectric shock.
N
Never attem
mpt to operrate the Do not stretch you
ur hand into the
sw our wet hand.
witch by yo servo unit.
u
If th
he approved in
nstruction is n
on is not
obsserved, it may
y cause electrric observed , itt may cause electric
sho ock. shock.
Doo not openn the coverr plate of th

he Do not directly
d touuch the wirring
te
erminal wheen the pow
wer is turne ed terminal of the serrvo motor main
m
onn or operatted. circuit.
If th
he approved in
nstruction is n
on is not
obsserved, it may
y cause electrric observed , itt may cause electric
sho ock. shock.
III
GR-L Series Bus AC
Danger
Do not immediately operate th he servo Do

D not stop p the thermmal-diffusioon
motor sshaft conne ection equippment
because e the servo unit may suddenly or put the fo
oreign matterial into the
start aftter the pow
wer is turned
d on again. fa
an and coooling fan.
If the app
proved instruc
ction is not If the approved iinstruction is not
observed d, it may caus
se the obsserved , it mayy cause dama age
personne el injury . or fire
f hazard .
Do nott place the cable at th

he edge D not operrate the se rvo drive
Do
of the s
sharp mateerial; do not eq
quipment with
w the po ower -on when
w
overloa emely extent the
ad or extre disassembling the covver plate on
o
cable th
he terminall block .
If the app
proved instruc
ction is not If the approved iinstruction is not
se electric obsserved , it mayy cause electtric
shock, faault or damage
e. shoock.
Caution
n
Motorr should be
e matched with the Thhe voltage level loadeed on eachh
appro
opriate serv
vo motor te
erminal sho
ould be con nsistent wiith
th
he one speccified in th e user
manual.
m
! !
If the app
proved instruc
ction is not If th
he approved innstruction is not
n
se observed , it mayy cause
equipmen nt damage . equipment damagge .
The motor can be performeed It can not bee operated before the e
loading operation, only when its fault is not eliminated aafter the
dry run
n is comple
eted. alarm occurs s.
! !
If the app
proved instruc
ction is not If th
n
se observed , it mayy cause
Do noot hold the cable and motor Do

o not operaated it if thee
co
omponents s of the serrvo unit are
e
during the motor
shaft d
ab
bsent or da
amaged, im mmediately
transp
portation. co
ontact the seller.
s
proved instruction is not
If the app If th
n
observed , it may cause observed , it mayy cause
IV
V
Pre
eface & Preca
autions
Cau
ution
Do
o not conne ect the powwer input Do not frequently
f y open/clos
se the
cab
bles R, S, T to the terrminals U , V input po
ower
and
d W of the motor ’s output ca able
If the approved in
nstruction is n
not If the approoved instructiion is not
obse erved, it may cause observed , it may cause e
equipment . equipment .
Doo not touch

h the therm
mal-radiato
or Do not extremely
e d
debug and
d alter
equipment o of the moto
or and serv
vo
mootor during
g operatingg, becausee the para
ameter.
the m occur .
e high temperature may
If the approved in
nstruction is n
not If the approoved instructiion is not
obse erved, it may cause scald observed , it may cause e
equipment .
The wasted servo o unit and the

t
Do
o not modiify, disassemble or
internal electric coomponentts only
repair the drrive unit fre
eely . treated as industrry trash insstead
of using
g repeated dly.
If the
e approved innstruction is nnot
If the appro
roved instruction is not
obse erved , it may cause
observed , it may causee
equipment . unexpecteed accident .
V
GR-L Series Bus AC
SEC
CURITY R
RESPON
NSIBILIT
TY
Security rresponsib
bility of the
e manufac
cturer
——Manu
ufacturer should take
e responsib
bility for th
he design and
a structuure dange
er of the
motorr and the accessories
a s which ha
ave been eliminated
e and/or
a conntrolled.
——Manu
ufacturer should
s take respon
nsibility fo
or the se
ecurity of the mottor and
accesssories.
——Manu
ufacturer sh
hould take
e responsib
bility for the
e offered informationn and sugg
gestions
for the
e user.
Security rresponsib
bility of the
e users
——User should kn
now and understand
u d about th
he contents
s of securrity operattions by
learniing and tra
aining the security
s op
perations of the motor.
——User should takke respons
sibility for the securitty and dan
nger becauuse of incrreasing,
chang
ging or mo
odifying the
e original m
motor or ac
ccessory by
y themselvves.
——User
— sshould takke respons
sibility for the dang
ger withou
ut followingg the ope
erations,
mainte
enances, in
nstallations
s and stora
ages descrribed in the
e manual.
This manual is reserv

ved by fi nal userr.
Chin
nese verrsion off all tech
hnical docume
d ents in C
Chinese
e and
English
E langua
ages is regarde
r ed as fin
nal.
VI
V
Preface & Precautions
We are full of heartfelt gratitude to you for supporting us in the use

of GSK’s products!
VII
GR-L Series Bus AC
CONTENTS
S
CONTENTS
C .......................................................................................................................................................... VIII
CHAPTER
C O
ONE PROD DUCT INTR RODUCTION N............................................................................................... 1
1.1 PROD
DUCT TYPE CONFIRMATIO ON.................. .............................................................. ................................. 1
1.1.1 Se
ervo Drive Uniit Type Explan
nation ............. ............................................................................................................... 2
1.1.2 Se
ervo Drive Uniit Appearance
e ....................... ............................................................................................................... 3
1.2 GR-L
L SERVO DRIVVE UNIT TEC CHNICAL SPEC CIFICATION ............................................ ................................. 4
1.3 ORDE
ER GUIDING............................................ .............................................................. ................................. 6
1.3.1 GR
R-L Series Se
ervo Drive Unitt Type-Selectiing Step ................................................................................................. 6
1.3.2 Orrder Type Exa
ample ...................................... ............................................................................................................... 7
1.3.3 Op
ption-Type Ta
able of SJT Se otor Matching with GR2000T
eries Servo Mo T-LA1 Series Product ........................ 7
1.3.4 Op ble of SJT Serries Servo Mottor Matching with
ption-type Tab w GR3000T
T-LA1 Series P
Product ......................... 8
1.3.5 Op
ption-type Tab
ble of ZJY Serries Spindle S ervo Motor Ma
atching with GR3000Y-LP2
G 2, GR4000Y-LP
P2 Series
Product .......................................................................... ............................................................................................................... 8
1.3.6 Op ble of ZJY Spindle Servo Mo
ption-type Tab otor Matching with GR2000
0Y-LP2 Seriess Product ..................... 10
1.3.7 Prroduct Factoryy Equipped Ac
ccessory ......... ............................................................................................................. 10
CHAPTER
C T
TWO INST TALLATION ................................................................................................................... 13
2.1 INSTA
ALLATION ENVVIRONMENT REQUIREMEN NT .......................................................... ............................... 13
2.2 INSTA
ALLATION DIM
MENSION ............................ .............................................................. ............................... 14
2.3 INSTA
ALLATION INTERVAL ............................... .............................................................. ............................... 16
CHAPTER
C T
THREE CO ONNECTION N ................................................................................................................. 19
3.1 PERIP
PHERAL EQUIPMENT CONNECTION ..... .............................................................. ............................... 20
3.1.1 Pe
eripheral Equipment Connection of GR20
000T-L Servo Drive Unit ................................................................... 20
3.1.2 Pe
eripheral Equipment Connection of GR30
000T-L Servo Drive Unit ................................................................... 23
eripheral Equipment Connection of GR-L Spindle Servo
3.1.3 Pe o Drive Unit ................................................................ 24
3.1.4 Prroduct Connecction for Multi--GSK-Link Spo
ot Bus .................................................................................................. 25
3.2 MAIN CIRCUIT WIR
RING .................................. .............................................................. ............................... 25
3.2.1 Fu
unction and Wiring
W of Main Circuit
C Connecction Termina
al ................................................................................... 25
3.2.2 Tyypical Wiring Example
E of Ma
ain Circuit ...... ............................................................................................................. 28
3.3 CONN
NECTION OF CONTROLLAB
BLE SIGNAL .. .............................................................. ............................... 33
3.3.1 CN
N2 Motor Encoder Feedbac
ck Interface & Wiring ................................................................................................. 33
he 2nd Position
3.3.2 Th n Encoder Fee
edback Interfa
ace and Wiring
g of CN3...................................................................... 37
3.3.3 CN
N4, CN5 Ethe
ernet Spot Bus erface and Wiring .............................................................................. 39
s GSKLink Inte
3.3.4 CN
N1 Brake Rele
easing Signal ........................
. ............................................................................................................. 40
3.3.5 I/O
O Information by Bus Interac
ction ............... ............................................................................................................. 41
3.3.6 CN
N8 Position Fe
eedback Outp
put Interface a nd Wiring ............................................................................................ 42
CHAPTER
C F
FOUR DISPLAY & OP PERATION ................................................................................................ 45
4.1 OPERRATION PANE EL ....................................... .............................................................. ............................... 45
4.2 DISPLLAY MENU .............................................. .............................................................. ............................... 46
4.3 STATEE MONITORIN NG ...................................... .............................................................. ............................... 48
4.4 PARAAMETER SETT TING ................................... .............................................................. ............................... 51
4.5 PARAAMETER ADMIINISTRATION.....................
. .............................................................. ............................... 52
CHAPTER
C F
FIVE OPER RATION .......................................................................................................................... 55
5.1 ENSUURE CORRECT T WIRING .......................... .............................................................. ............................... 55
5.2 MANUUAL OPERATION .................................... .............................................................. ............................... 57
5.3 JOG OPERATION .......................................... .............................................................. ............................... 58
VIII
V
Content
5.4 GSK-LINK BUS CONTROL OPERATION ................................................................................................... 59

CHAPTER SIX FUNCTION DEBUGGING .................................................................................................. 65
6.1 BASIS PERFORMANCE PARAMETER DEBUGGING EXPLANATION ........................................................... 65
6.1.1 Debugging Method of Adapted Permanent Synchronous Motor ........................................................................ 65
6.1.2 Debugging Method of Adapted AC Asynchronous Spindle Motor ...................................................................... 67
6.1.3 Three-Gain Selection of Closed-Loop Control....................................................................................................... 69
6.2 POSITION ELECTRIC GEAR RATIO ........................................................................................................... 71
6.3 SHIFT OF MOTOR ROTATION DIRECTION ................................................................................................ 72
6.4 SERVO TORQUE LIMIT ............................................................................................................................. 74
6.5 BRAKE RELEASE SIGNAL APPLICATION .................................................................................................. 74
6.6 MOTOR BRAKE METHOD.......................................................................................................................... 77
6.7 SPINDLE CLAMPING INTERLOCKING SIGNAL ........................................................................................... 78
6.8 SPINDLE ORIENTATION FUNCTION .......................................................................................................... 79
6.9 VELOCITY/POSITION SHIFTING FUNCTION (CS AXIS FUNCTION) .......................................................... 85
CHAPTER SEVEN PARAMETER ................................................................................................................ 89
7.1 PARAMETER LIST ..................................................................................................................................... 89
7.2 PARAMETER MEANING DETAILS .............................................................................................................. 91
8.1 MEANING AND TREATMENT OF ALARM OR PROMPT CODE .................................................................. 101
8.2 NORMAL TROUBLESHOOTING ................................................................................................................ 110
8.3 INSPECTION AND MAINTENANCE OF SERVO DRIVE UNIT ..................................................................... 111
APPENDIX A MOTOR TYPE CODE TABLE ........................................................................................... 113
APPENDIX B PERIPHERAL EQUIPMENT SELECTION ...................................................................... 117
B.1 BREAKER AND CONTACTOR (NECESSARY EQUIPMENT)...................................................................... 117
B.2 THREE-PHASE AC FILTER (RECOMMENDED EQUIPMENT) .................................................................. 118
B.3 AC REACTOR (RECOMMENDED EQUIPMENT) ...................................................................................... 118
APPENDIX C SELECTION OF BRAKE RESISTANCE ......................................................................... 121
IX
GR-L Series Bus AC Servo Drivve Unit Userr Manual
X
Chapter One Product Introduction
CHAPTER ONE PRODUCT INTRODUCTION
The GR-L Series Bus AC Servo Drive Unit (It is abbreviated as Servo Drive Unit)
made by GSK CNC Equipment CO., LTD. which is matched with GSK988□ (□: TA
or TB or MDs or MD) CNC system and supports the servo drive unit product with
GSK-Link bus agreement.
The series servo drive unit owns the following basis characteristics comparing with
others servo drive units:
¾ Integrated permanent-magnet synchronous servo motor and asynchronous spindle servo

motor are performed the control algorithm together, which can be adapted by setting the
motor parameter;
¾ Using the GSK-Link spot bus and CNC high speed real-time communication can be
simplified the connection to avoid the transmission distortion of analogy and pulse signals,
as well support the real-time monitoring, parameter management and servo parameter
tuning;
¾ Support the control methods, such as position, speed and position/speed, etc;
¾ It owns two-position feedback input interfaces, supports the encoder communication
agreement and incremental encoder of the BISS, Endat2.2 and TAMAGAWA etc. The
overall closed-loop control can be carried out by connecting the absolute and increment
optical grating.
¾ Strong overloading drive ability, wide brake pipe capacity, support the external brake
resistance and fast start and brake speed.
¾ It owns 220V, 380V and 440V levels to suit different electric networks.
1.1 Product Type Confirmation
It is necessary to inspect the following items after receiving; if you have any questions, contact
the supplier or our company.
Inspection Item Remark

Check the servo drive unit and servo motor
Confirm it by the nameplate of the servo
and confirm whether it is the ordered
drive unit and servo motor
products.
1
GR-L
L Series Bus AC
A Servo Driive Unit Use
er Manual
Checkk the compon nent contentt of the

Check whether th
he compone
ents are
packin
ng list; it is be
etter to conttact the
plete
comp
supplie
er if it does not
n match.
Checkk the integrattive appearaance of the
Check whether th he cargo is damaged
d du
ue
produc
ct that it should be integgrated and
e transportattion.
to the
without damage.
Checkk whether it is loosened by
Check whether th
he screw is tightened.
t
screwddriver.
1. The AC
A servo drrive unit with
h damaging or absentin
ng in compoonents can not
n be
installed
d;
Notice
e 2. The servo
s unit op
peration sho
ould be matc
ched with the
e adapted poower servo motor;
m
3. It is necessary
n to
o confirm ea R-L series pproduct and motor
ach parametter of the GR
are conssistent with its requirem
ment based upon
u the Section 1.3 Orrder Guiding
g.
1.1.1 S
Servo Drivve Unit Type
T Expllanation
¾ Namepla
ate example
e of servo d
drive unit
M
Motor type from
f the serrvo unit deliv
very parame
eter
S
Servo unit order
o type
F u l l- d i g i t A C S e r v o D r i v e U n i t
Seervo unit
T
Type： 0T-LA1 So
GR2050 oftware versiion：V1.10
softwaare version
n
A
Adapted mo
otor：130SJT
T-M150D（
（A4I）
Input power：
3-phase 22
20V(-15%～+
+10%)50/60Hz
Serv
rvo unit
N
No.：E03D
DN00088 Date： 2012/10 factoory data
R
数控设备有限公司
Tel. 020 6329 Fax .81991211
0 81236 1
S
Servo unit factory Numb
ber
Servo unit inp
put power sp
pecification
¾ Type exa
ample of se
ervo drive u
unit
① “GR” series genera

al-purpose serv
vo drive unit, G
GR: Product code
c
② Voltage
e grave code, 2: 220V; 3: 380V; 4: 440
0V
Power component no
ominal current, 3-digit numb
ber means: 02
25, 030, 045, 048,
0 050, 075 , 100, 148, 15
50 (Unit:
③
d the leading zero
A), and z can not be
b ignored.
④ Adapte
ed motor type, T; Adapted synchronous sservo motor; Y: Adapted as
synchronous sservo motor
2
⑤ Communication bus code, N: Without bus; L: GSKLink bus

Feedback (Encoder) interface type code, P: Adapted incremental encoder; A: Adapted absolute encoder,
without spare/standby battery.
⑥ B: Adapted absolute encoder, equipped battery (It is used for memorizing the coil numbers of absolute encoder
after the power is turned off).
B: Adapted absolute or incremental encoder, equip with the spare/standby battery.
Feedback (Encoder) interface configuration code; it expresses with 1-digit, “1” means motor feedback (the 1st
position feedback)
⑦ Input interface (CN2), “2” means the motor feedback input (CN2) and the 2
nd
position feedback input interface
(CN3)
⑧ Encoder agreement, without: BISS + TAMAGAWA (Nominal standard configuration); A: BISS+EnDat
1.1.2 Servo Drive Unit Appearance
Absolute encoder standby battery
installation position (Refer to the
servo drive unit type explanation)
Fig. 1-10 GR2000T-C product appearance
3
GR-L
L Series Bus AC
er Manual
z Motor encoder shou

uld be equip
pped with the
e battery on the servo ddrive unit when
adapts with
w ‘A4Ⅱ’ 17-bit
1 absolu
ute encoder. Our compa
any providess the ABLE
compan
ny ER14250 battery, its specification
n is 3.6V, 1.2Ah, 1/2AA
z GR2025
5T-L, GR203
30T-L and G
GR2045T-L servo
s drive units are noot supported to the
CN8 inte
erface function.
1.2 GR
R-L Servo
o Drive Unit
U Tech
hnical Sp
pecification
Servo driv
ve
type GR201
19T-L GR2
2030T-L GR
R2045T-L GR2050T-L
L GR20755T-L GR2100T-L
Consecutiive
output curre
engt 6 10 15 16.8 25.5 34
(A)
Wight（kg
g） 2.325
2 3.365 5.2755 7.265
Standard
d
configuration
servo mottor I≤4
4 4＜
＜I≤6 6
6＜I≤7.5 7.5＜I≤10 10＜I≤ 15 15＜
＜I≤29
rated curre
ent I
(A)
Power inp
put 3-phase AC220V（
（85%～110 %）50/60Hz±1Hz
Brake Built-in brake resista
ance. (Externa
al brake resistance can be
b External brrake resistanc ce (without
ce
resistanc matched d) built-in brakke resistance))
Servo driv
ve
type GR2050Y-L GR207
75Y-L G
GR2100Y-L
Consecutiive
output curre
engt 17 25
5.5 34
(A)
Weight（kg
g） 3.365 5.2
275 7.265
Standard d
configuration
motor rate ed
1.5，2.2 3..7 5.5，7.5
power (kW W)
Standard d
configuration
motor rate ed I≤10 10＜I≤
≤15.5 15.5＜I≤29
current I ((A)
Power inp
put 3 phase
e AC220V（ %）50/60Hz
（85%～110% z±1Hz
Brake Either se
elect the built--in or
Exxternal brake resistance
r (witthout built-in bbrake resistanc
ce)
ce
resistanc external brake resistance
Servo driv
ve
GR3048
8T-L GR305
50T-L GR30
075T-L GR31
100T-L GR3
3148T-L GR33150T-L GR
R3198T-L
type
Consecutiive
output curre
engt 13.5
5 17
7 25
5.5 34
3 41 48 56
(A)
Weight（kg
g） 3.42
2 5.3
38 7..6 9.7
755 9.850 113.34 13.4
Standard d
configuration
motor rate ed I≤8
8 ≤10
8＜I≤ 10＜
＜I≤15 15＜
＜I≤20 20＜
＜I≤27 27 ＜I≤34 34
4＜I≤45
current I ((A)
4
Power input 3-phase AC380V（85%～110%）50/60Hz±1Hz

Brake
External brake resistance (without built-in brake resistance)
resistance
Servo drive GR3048Y-L GR3050Y-L GR3075Y-L GR3100Y-L GR3148Y-L GR3150Y-L GR3198Y-L

type GR4048Y-L GR4050Y-L GR4075Y-L GR4100Y-L GR4148Y-L GR4150Y-L GR4198Y-L
Standard
configuration
motor’s rated 1.5, 2.2 3.7, 5.5 5.5, 7.5 7.5, 11 11 15, 18.5 22
power (kw)
Consecutive
output currengt 13.5 17 25.5 34 41 48 56
(A)
Weight（kg） 3.42 5.38 7.6 9.755 9.850 13.34 13.4

Standard
configuration
motor rated
I≤8 8＜I≤15.5 15.5＜I≤20 20＜I≤27 27＜I≤34 34＜I≤49 49＜I≤60
current I (A)
GR3000Y series power input: 3-phase AC380V (85%～110%) 50/60Hz±1Hz
Power input
GR4000Y series power input：3-phase AC440V (85%～110%) 50/60Hz±1Hz
Servo drive
GR-L series product
type
GSK-Link bus interface, accept the position, speed, torque and control command, feedback the
Communication actual position/speed/torque and state data, support the servo state real-time monitoring, servo
bus
parameter loading/unloading and servo dynamic characteristic debugging.
Working Manual, JOG, Internal speed, Speed, Position, Torque, Speed/position, Speed/torque,
method Position/torque
31 31
Position Command range: -2 ~2 -1 Command unit: Position feedback pulse input equivalent
control Position command electric gear ratio: (1～32767) / (1～32767)
Command range: -231~231 -1 Command unit: 0.01rpm
Speed command electric gear ratio: (1～32767) / (1～32767）
Speed control
Speed-regulation range: 1~5000rpm (Feed servo); 1~12000rpm (Spindle servo)
Orientation function: Any angle
Command range: -231~231 -1 Command unit: 0.0001Nm
Torque control
A/B/Z 3-pair differential signal input, adapt with 1024~8192p/r incremental encoder;
RS485 semi-duplex series communication interface, support BISS, TAMAGAWA encoder
Motor feedback communication agreement, adapt the DANAHER, TAMAGAWA absolute encoder. It can be
input adapted with HEIDENHAIN encoder of EnDat2.2 communication agreement.
Feed servo matches the multi-coil absolute encoder with single-coil 17-bit accuracy; spindle servo
matches with the 1024p/r incremental encoder.
Feed servo optional adapt interface, spindle servo standard interface
A/B/Z 3-pair differential signal input, adapt with the incremental encoder and grating bar;
The 2nd RS485 semi-duplex series communication interface, support BISS, TAMAGAWA encoder
feedback input
communication agreement, adapt the DANAHER, TAMAGAWA absolute encoder. It can be
adapted with HEIDENHAIN encoder grating bar of EnDat2.2 communication agreement.
Output the A/B/Z differential signal based upon the 1st or the 2nd position feedback signal input;
Position When the reference position feedback input is the incremental encoder, support the position
feedback output gear ratio, and the resolution range of the gear ratio numerator/denominator:
feedback
1~256, the numerator should be less than the denominator;
output When the reference position feedback input is absolute encoder, the feedback pulse number output
5
GR-L
L Series Bus AC
er Manual
of the motor per each revolution is sset (0~30000)) by parameter; the motor/r ooutput feedbaack pulse
number should be less than the cou unter value/r of
o the referenc
ce position feeedback input.
I/O signa
al utput signal (B
Fixed ou Brake releasing
g)
1.3 Ord
der Guid
ding
1.3.1 GR-L Series Servo

G o Drive U
Unit Type--Selecting
g Step
Ty
ype-selecting
g
S/N Type-selecting con
ntent
step
otor selection
Mo n
1 Optional: GR2000,
G GR3
3000 and GR4
4000 series
Vo
oltage level
AC permanent-mag gnetic
AC async
chronous spi ndle servo motor
m
synchrronous servo motor
Optional power range e (0.5 ～
otor selection
Mo n 10.5)kW Optional
O power: 1.5, 2.2, 3.77, 5.5, 7.5, 11, 15, 18.5
2
Po
ower, torque Optional torque rangee (2.4 ～ and
a 22 (Unit: kW)
k etc.
50)N·m
1.
1 Spindle mottor rated speedd：750r/min，Max.
A: Motor ra
ated speed 10
000r/min speed
s 4500r/m
min
Mootor
B: Motor ra
ated spee15000r/min
rev
volving 2.
2 Spindle mottor rated speedd：1000r/min, Max.
3 C: Motor ra
ated spee20000r/min
speed
D: Motor ra
ated spee25000r/min speed
s 7000r/m
min
sellection
E: Motor ra
ated spee30000r/min
3.
3 Spindle mootor rated speeed：1500r/m
min, Max.
speed
s 7000r/m
min or 10000r//min
024 cable incremental encooder, resolution
10 n ±0.088 º
2500 cablee incrementall encoder, 25
500 cable incremental encooder, resolution n ±0.022 º
onfirm
Co the
e
mootor andd resolution ±0.036º 7-bit absolute encoder (A4I)), resolution ±0
17 0.0027º
spindle 5000 cablee incrementall encoder, 19
9-bit absolute encoder (A8),, resolution ±0
0.0007º
4
encoder y
by resolution ±0.018º
maachining IG
GS512 gear magnetic resistance encoder,
acc
curacy 17-bit absolute encoder,
resolution ±0.0027º re
esolution ±0.0055º, HEIDE NHAIN 1024 magnetic
grrid encoder, re
esolution ＜±00.00005 º
Coonfirm the
e
Ⅰ he motor type a
Confirm th according to the
t GSK servo
o motor type-taable
mootor type
Coonfirm the
e
Confirm th
he servo unit ty
type based up
pon the type-selecting table 1.3.3, 1.3.4, 1.3.5 and
6 serrvo drive unitt
1.3.6
typ
pe
The resolu
ution does not equal to
o the eventtual positioning accuraacy due to the
mechanica emble preciision of machine tool.
al and asse
6
1.3.2 Order Type Example

1. GR-L series servo equipment (including the SJT series AC servo motor) integrated
order type
GR-L Servo drive unit type — SJT AC servo motor type
For example: GR2030T-LA1—110SJT-M040D (A4I)
Explanation: Order the GR2030T-LA1 AC servo drive unit and matched with the
110SJT-M040D (A4I) AC servo motor; the accessory is standard configuration (Refer to 1.3.5)
GR servo drive unit type —（Servo motor type）

For example: GR2030T-LA1—(110SJT-M040D(A4I)) or GR3075Y-LP2—(ZJY208-7.5BM
-B5LY1)
Explanation: Only order servo drive unit; the factory parameter is configured based upon the
servo motor inside the bracket; the accessory is the optional one (Refer to 1.3.5).
1.3.3 Option-Type Table of SJT Series Servo Motor Matching with

GR2000T-LA1 Series Product
Servo Motor Parameter
Servo Drive Type Rated Rated Rated Rated
Motor Type Encoder
Power Current Torque Speed
GR2019T-LA1 80SJTA-M024C(A4I) 0.5kW 3A 2.4N·m 2000r/min Absolute 17bit
GR2019T-LA1 80SJTA-M024E(A4I) 0.75kW 4.8A 2.4N·m 3000r/min Absolute 17bit
GR2019T-LA1 80SJTA-M032C(A4I) 0.66kW 5A 3.2N·m 2000r/min Absolute 17bit
GR2030T-LA1 80SJTA-M032E(A4I) 1.0kW 6.2A 3.2N·m 3000r/min Absolute 17bit
GR2030T-LA1 110SJT-M040D(A4I) 1.0kW 4.5A 4N·m 2500r/min Absolute 17bit
GR2030T-LA1 110SJT-M040E(A4I) 1.2 kW 5A 4N·m 3000r/min Absolute 17bit
GR2045T-LA1 110SJT-M060D(A4I) 1.5kW 7A 6N·m 2500r/min Absolute 17bit
GR2045T-LA1 110SJT-M060E(A4I) 1.8kW 8A 6N·m 3000r/min Absolute 17bit
GR2045T-LA1 130SJT-M050E(A4I) 1.57 kW 7.2A 5N·m 3000r/min Absolute 17bit
GR2045T-LA1 130SJT-M060E(A4I) 1.88 kW 7.8A 6N·m 3000r/min Absolute 17bit
GR2045T-LA1 130SJT-M075D(A4I) 1.88kW 7.5A 7.5N·m 2500r/min Absolute 17bit
GR2050T-LA1 130SJT-M075E(A4I) 2.36 kW 9.9A 7.5N·m 3000r/min Absolute 17bit
GR2030T-LA1 130SJT-M100B(A4I) 1.5kW 6A 10N·m 1500r/min Absolute 17bit
GR2050T-LA1 130SJT-M150B(A4I) 2.3kW 8.5A 15N·m 1500r/min Absolute 17bit
GR2075T-LA1 130SJTE-M150D(A4I) 3.9kW 14.5A 15N·m 2500r/min Absolute 17bit
GR2075T-LA1 175SJT-M120E(A4I) 3kW 13A 9.6N·m 3000r/min Absolute 17bit
7
GR-L
L Series Bus AC
er Manual
Servo Mottor Parameter

Servo Drive
e Type Ra
ated Ratted Rate
ed Rateed
Motor Type
e Enc
coder
Po
ower Currrent Torque Speeed
GR2075T--LA1 175S
SJT-M150B(A4
4I) 2.4
4kW 11
1A 15N·m 1500r/m
min Absolu
ute 17bit
GR2075T--LA1 175S
SJT-M150D(A4I) 3.1
1kW 14
4A 12N·m 2500r/m
min Absolu
ute 17bit
GR2075T--LA1 175S
SJT-M180B(A4
4I) 2.8
8kW 15
5A 18N·m 1500r/m
min Absolu
ute 17bit
GR2100T--LA1 175S
SJT-M180D(A4I) 3.8
8kW 16.5A 14.5N
N·m 2500r/m
min Absolu
ute 17bit
GR2100T-- LA1 175S
SJT-M220B(A4
4I) 3.5
5kW 17.5A 22N·m 1500r/m
min Absolu
ute 17bit
GR2100T-- LA1 175S
SJT-M220D(A4I) 4.5
5kW 19
9A 17.6N
N·m 2500r/m
min Absolu
ute 17bit
GR2100T--LA1 175S
SJT-M300B(A4
4I) 4.7
7kW 24
4A 30N·m 1500r/m
min Absolu
ute 17bit
GR2100T--LA1 175S
SJT-M300D(A4I) 6kkW 27.5A 24N·m 2500r/m
min Absolu
ute 17bit
GR2100T--LA1 175S
SJT-M380B(A4
4I) 6 kW 29
9A 38 N·m 1500 r//min Absolu
ute 17bit
The motorr optional configuratio

c on with the power-dow
wn brake is cconsistent with
the one without powe
er-down, fo
or example: the standa
ard type of tthe 175SJT
T-M Z
180D (A4I)) is consistent with the
e 175SJT-M
M180D (A4I); it is suitab
ble for the
following standard ty
ype.
1.3.4 Option-tyype Tablle of SJJT Serie

es Servo
o Motor Matching
g with
GR30000T-LA1 Seeries Pro
oduct
Servo Mottor Parameter
Servo Drive
e Type Ra
ated Ratted Rate
ed Ratedd
Motor Type
e Enc
coder
Po
ower Current Torque Speeed
GR3075T--LA1 175S
SJT-M380BH(A4I) 6kkW 15
5A 38N·m 1500r/m
min Absolu
ute 17bit
GR3148T--LA1 175S
SJT-M380DH(A4I) 7.9
9kW 26
6A 30N·m 2500r/m
min Absolu
ute 17bit
GR3100T--LA1 175S
SJT-M500BH(A
A4I) 7.8
8kW 20
0A 50N·m 1500r/m
min Absolu
ute 17bit
GR3150T--LA1 175S
SJT-M500DH(A4I) 10..5kW 33
3A 40N·m 2500r/m
min Absolu
ute 17bit
1.3.5 O
Option-typ
pe Table of ZJY S
Series Spindle Serrvo Motorr Matchin
ng with
GR30000Y-LP2, GR4000Y
G Y-LP2 Serries Prod
duct
Main Parameter
P of Spindle Motoor
Servo Drive Adaptted Motor
Rated Rated Rated
R Ratted Standarrd-configur
Type T
Type Max. Speed
Power Torque Speed
S Currrent ation Encoder
E
1024 reesolution
ZJY182--1.5BH 1.5kW 9
9.5 N·m 15500 rpm 100000rpm 7.33 A
incre
emental
1024 reesolution
ZJY182--2.2BH 2.2kW 14 N·m 15500 rpm 100000rpm 7.55 A
GR3048Y-L
LP2 incre
emental
GR4048Y-L
LP2 1024 reesolution
ZJY182--2.2CF 2.2kW 1
10.5 N·m 20 000 rpm 12000 rpm 9AA
incre
emental
1024 reesolution
ZJY208A
A-2.2AM 2.2kW 21 N·m 10
000rpm 700
00rpm 6.77A
incre
emental
8
Main Parameter of Spindle Motor

Servo Drive Adapted Motor
Rated Rated Rated Rated Standard-configur
Type Type Max. Speed
Power Torque Speed Current ation Encoder
ZJY208A-2.2BH 1024 resolution
2.2kW 14.5 N·m 1500rpm 10000rpm 8.9A
(ZJY208-2.2BM) incremental
1024 resolution
ZJY182-3.7BL 3.7kW 24 N·m 1500rpm 4500rpm 10.4A
incremental
1024 resolution
ZJY182-3.7BH 3.7kW 24 N·m 1500 rpm 10000rpm 15.5 A
incremental
1024 resolution
ZJY182-3.7DF 3.7kW 14 N·m 2500 rpm 12000rpm 13A
incremental
1024 resolution
ZJY208A-3.7WL 3.7kW 47N·m 750rpm 4500rpm 11.3A
GR3050Y-LP2 incremental
GR4050Y-LP2 1024 resolution
ZJY208A-3.7AM 3.7kW 35 N·m 1000rpm 7000rpm 10.2A
incremental
ZJY208A-3.7BM 1024 resolution
3.7kW 24 N·m 1500rpm 7000rpm 8.9A
(ZJY208-3.7BH) incremental
1024 resolution
ZJY208A-3.7BH 3.7kW 24 N·m 1500rpm 10000rpm 12.6A
incremental
5.5kW 35 N·m 1500rpm 7000rpm 13.7A
1024 resolution
ZJY182-5.5CF 5.5kW 26.2 N·m 2000 rpm 12000 rpm 19A
incremental
1024 resolution
ZJY182-5.5EH 5.5kW 17.5 N·m 3000rpm 10000rpm 17A
incremental
1024 resolution
incremental
ZJY208A-5.5AM 5.5kW 53 N·m 1000rpm 7000rpm 16.3A
7.5kW 48 N·m 1500rpm 7000rpm 18.4A
1024 resolution
ZJY265A-5.5WL 5.5kW 70 N·m 750rpm 4500rpm 16.3A
incremental
1024 resolution
ZJY265A-7.5BM 7.5kW 49 N·m 1500rpm 7000rpm 18A
incremental
1024 resolution
incremental
1024 resolution
ZJY265A-7.5WL 7.5kW 95.5 N·m 750rpm 4500rpm 21.4A
incremental
1024 resolution
ZJY182-7.5EH 7.5kW 24 N·m 3000rpm 10000rpm 21A
ZJY265A-7.5AM 7.5kW 72 N·m 1000rpm 7000rpm 21A
incremental
1024 resolution
incremental
1024 resolution
ZJY265A-11BM 11kW 72 N·m 1500rpm 7000rpm 26A
incremental
1024 resolution
ZJY265A-11AM 11kW 105 N·m 1000rpm 7000rpm 31A
incremental
ZJY265A-11WL 11kW 140 N·m 750 rpm 4500 rpm 30A
1024 resolution
ZJY265A-11BH 11kW 70 N·m 1500rpm 10000rpm 30A
incremental
1024 resolution
ZJY265A-15AM 15kW 143 N·m 1000rpm 7000rpm 48.3A
ZJY265A-15BM 15kW 98 N·m 1500rpm 7000rpm 35A
incremental
9
GR-L
L Series Bus AC
er Manual
Main Parameter
P of Spindle Motoor
Servo Drive Adaptted Motor
Rated Rated Rated
R Ratted Standarrd-configur
Type T
Type Max. Speed
Power Torque Speed
S Currrent ation Encoder
E
1024 reesolution
ZJY265A
A-15BH 15kW 95 N·m 15
500rpm 100 000rpm 400.7
incre
emental
1024 reesolution
ZJY265A
A-18.5BM 18.5kW 1
118 N·m 15
500rpm 700
00rpm 48..7A
incre
emental
GR3198Y-L
LP2 1024 reesolution
A-22BM
ZJY265A 22kW 1
140 N·m 15
500rpm 700
00rpm 588A
GR4198Y-L
LP2 incre
emental
1.3.6 OOption-tyype Table of ZJY

Y Spindle Servo
o Motor Matching
g with
GR20000Y-LP2 Series Prooduct
Main Parameter of Spindle Mot
otor
Servo Driv
ve
Adapted Motor Type
Type Rated Rated Rated Raated
Rate
ed Power Rate
ed Power
Power Power Power Poower
1024 resolution
ZJY182-2.2BH-L 2.2kW 14 N·m 15
500 rpm 10000rpm 13 A
GR2050Y-LP
P2 incrremental
1024 resolution
ZJY208
8A-3.7BH-L 3.7kW 24 N·m 15
500 rpm 10000rpm 222 A
incrremental
GR2075Y-LP
P2 1024 resolution
ZJY208
8A-3.7AM-L 3.7kW 35 N·m 1000rpm 70
000rpm 177.5A
incrremental
1024 resolution
ZJY182-3.7BH-L 3.7kW 24 N·m 15
500 rpm 10000rpm 226A
incrremental
1024 resolution
ZJY208
8A-5.5AM-L 5.5kW 53 N·m 10
000 rpm 70
000rpm 288.2 A
incrremental
GR2100Y-LP
P2 1024 resolution
ZJY208
8A-5.5BH-L 5.5kW 35 N·m 15
500 rpm 10000rpm 311.8A
incrremental
1024 resolution
ZJY208
8A-7.5BM-L 7.5kW 48 N·m 1500rpm 70
000rpm 299.4A
incrremental
1.3.7 P
Product Factory
F Eq
quipped A
Accessorry
z G
GR2000T-L,, GR3000T-L
L series pro
oduct stand
dard access
sory list
Accessory Name Specification Type
e Q’ty Acces
ssory Explana
ation Rem
mark
Stand dard length 3m
m, CN2 interfa
ace connects tto
-0
00-761B 1 pc 110/1 130/175 flange
e motor (Aviattion socket ouutlet,
encooder suffix A4I)).
Select 1pc
m, CN2 interfa
ace connects tto
corresponding
Motor encod
der -0
00-761E 1 pc 80 flaange motor (C
Cable direct ou
utlet, encoder
cable based upon
suffixx A4I).
the orderred motor
m, CN2 interfa
ace connects tto
-0
00-761K 1 pc 80 flaange motor (A
Aviation sockett outlet, encodder
suffixx A4I).
It adaptts based
upon th he rated
Motor powerr cable 765*（Note 1）
00-7 1 pc Stand
dard length:3m
m current of
o ordered
motor.
GR-L Series AC
C
Product user 1
Servo Drive Uniit copy Follo
owing with the technical document
manual
User Manual
M
10
BCF
4-bit plug 1 pc CN7 interface plug
3.81/04/180F
Refer to the
Aluminum Appendix C for the
Aluminum brake
encloser brake 1m cable specification,
resistance
quantity and
resistance
terminal
GSKLink communication cable provides (Note 2) with CNC product.
Note 1: “*” is undetermined suffix letter which is corresponding to the motor power cable
specification.
Note 2: At present, the CNC system that supports to the GSK-Link spot bus includes
GSK988 □ (□：TA, TB, MDs, MD etc.), which can be adapted with GR2000T-L,
GR2000Y-L, GR3000T-L and GR3000Y-L, GR4000Y-L series servo drive unit.
z GR2000T-L, GR3000T-L series product optional accessory list

Accessory name Specification type Q’ty Accessory explanation Remark
Aluminum 300W /30Ω, GR2025/GR2030 optionally It can be optionally
enclosure brake
RXLG300W30RJ 1 pc matched with the external resistance, 0.5m matched when the
resistance J connection cable included. rapid start or loading
Aluminum 500W /22Ω, GR2045/GR2050 optionally inertia is more than
enclosure brake
RXLG500W22RJ 1pc matched the external brake resistance, 0.5m the one of the 5-time
resistance J connection cable included. motor rotor.
z GR2000Y-L, GR3000Y-L, GR4000Y-L series product standard accessory list

Accessory name Specification type Q’ty Accessory explanation Remark
Standard length 3m, matching with Select 1 piece cable
208/265 motor based upon the order
-00-761C 1 pc (26pin high-density head-15 female motor
aviation plug)
Standard length 3m, matching with
Motor encoder 208/265 motor
cable -00-761G 1 pc (26pin high-density head-1- female
round plug)
Standard length 3m, matching with
ZJY182 motor
-00-761F 1 pc (26pin high-density head-12 pin
connector)
Matching with the rated
Motor power cable 00-765* 1 pc Standard length: 3m current of the order
motor
Product user GR-L Series AC Servo
manual 1 copy Following with the technical document
Drive Unit User Manual
4-bit plug BCF 3.81/04/180F 1 pc CN7 interface plug
Refer to the Appendix C
Aluminum enclose Aluminum enclose
1m cable for specification,
brake resistance brake resistance quantity and terminal
11
GR-L
L Series Bus AC
er Manual
TThis plug is pro

ovided
wwith cable instead of
20-bit high d
density ooffering alone,
MDR-20 1 set CN3 interfacee plug
plug ssimultaneously y, the
uuser selects th
he spindle
eencoder.
Standard length 3m, fo or 208/265 OOptional one according
a
-00-768A flange size sp
pindle servo motor
m fan too the ordered motor
Fan cable
Standard len ngth 3m, for 182 flange
-00-768E size spindle servo
s motor fa
an
GSK-Link co
ommunication cable provide
es with the CN
NC product.
z G
GR2000Y-L , GR3000Y-L, GR4000
0Y-L series product op
ptional acceessory list
Accessorry Speciification Remark
k
Q’ty
Q Accessory
y explanation
n
name tyype
Spindle enco
oder Standarrd 3m long, Thee DR-20 plug of o the
-00--762B 1 pc
cable RE EP incremental spindle enc coder CN 3 interface dooes not
Standarrd 3m long, ovide any more
prov e after the
Spindle enco
oder
-00--762F 1 pc TAMAG GAWA magne etic-resistance
e encoder optiional cable is selected.
cable
(TAMAGAW WA agreementt)
Standarrd 3m long,
Spindle enco
oder HEIIDENHAIN ma agnetic grid en
ncoder
-00--762G 1 pc
cable matcching with ERM2410 reading head
Dat2.2)
(EnD
Spindle enco
oder Standarrd 3m long,
-00--762E 1 pc
cable User self-equ
uipped encode er
① It is very
v essentiial to write t he type and
d quantity of the order pproduct (serv
vo drive
unit,, servo moto
or, insulation
n transforme
er and CNC), and also, it is very im
mportant
to no
ote the spec
cial version ssupply or op
ptional match
hing functionn requireme
ent
② It is very
v essential to write th
he type, spe
ecification an
nd quantity oof the non-standard
Notice
e acce
essory (for example: special cab
ble or cable length, ccable manu
ufacture
technique, etc.) ; Otherwise
e, it will proviide accordin
ng to the sta ndard acces
ssory.
③ It is very
v essential to write tthe codes, such
s as the shaft extenssion, structu
ure type
and outlet metho
od of the se rvo motor. Special
S requirement shoould be indic
cated on
orde
er.
12
Chapter Two Installation
CHAPTER TWO INSTALLATION
2.1 Installation Environment Requirement
The installation environment condition of the GR-L series bus servo drive unit makes directly
effective to the normal usage of the function and its life-span; it is very necessary to install based
upon the following steps.
It is necessary to install at the place where without the water-drop, steam,
dust and oil.
Pay attention to the ventilation, damp-proof and dust in the installation
place.
Notice Do not install it on the flammable surface or neighbor, avoid the accident
fire hazard.
The installation situation should be convenient for maintaining and
inspecting.
Item Index
Usage temperature 0℃～40℃
Storage & transportation
-40℃～70℃
temperature
Usage humidity 30%～95% (No condensation)
Storage & transportation humidity ≤95%（40℃）

There is no corrosive gas, flammable gas, oil mist or dust etc. in
Atmosphere environment
the controllable cabinet.
Altitude height Altitude under 2000m
Vibration ≤0.6G(5.9m/s2)
Atmosphere pressure 86kPa～106kPa
13
GR-L
L Series Bus AC Servo Driive Unit Use
er Manual
2.2 Ins
stallation
n Dimens
sion
The suitable
product for the
e:
right figure
GR2025T-L;
GR2030T-L;
GR2045T-L.
(Unit: mm)
The suitable
product for the
e:
right figure
GR2050T-L;
Y-L
GR2050Y
GR3048T-L;
Y-L;
GR3048Y
GR4048Y
Y-L.
(Unit: mm)
The suitable
product for the
right figure:
GR2075T-L;
GR2075T-L;
GR3050T-L;
Y-L;
GR3050Y
GR4050Y
Y-L.
(Unit: mm)
14
6
The suitable
product for the
right figure:
293±0.25
305
GR2100T-L;
GR2100Y-L;
GR3075T-L;
GR3075Y-L;
GR4075Y-L.
(Unit: mm)
2- 6
6
The suitable C
N
6
product for the

C
N
4
C
N
right figure:
5
293±0.25
C
N
GR3100T-L; 3
305
GR3100Y-L; C
N
2
GR4100Y-L; C
N
8
GR3148T-L; C
N
1
GR3148Y-L;
GR4148Y-L.
(Unit: mm)
2-R3 273.5
148
160
The suitable product for the right figure: GR3150T-L; GR3150Y-L; GR4150Y-L; GR3198T-L;
GR3198Y-L and GR4198Y-L.
(Unit: mm)
15
GR-L
L Series Bus AC
er Manual
2.3 Ins
stallation
n Intervall
GR-L series servo drive

e units are
e adapted the
t basepla
ate mountinng method, and its
ation directio
installa on is vertica
al to the su rface. The front
f of the servo drivee unit should be put
forward
d and the top should be upward
d when mou
unting. Note
e that it is necessary to keep
adequa
ate intervalss around it.
Re
eserve the bigger
b interv
vals for the m
multi-servo unit
u installatiion interval aas much as possible
during the actual installation; guarantee
g th
he well heatt-radiating co
ondition.
o guarantee
To e against the consecut ive heating--up around the servo ddrive unit; keep
k the
convecction air for the
t electric cabinet.
c
Th
he following figures are suggested tthe installation interval distance
d of tthe servo drive unit.
16
Cabinet Cabinet
Hot air
120 mm
Series
AC Servo Motor Drive Unit
Up
Installation surface
Front 100 mm
CHARGE POWER
100 mm Wiring
50mm space
Cool air
Down
Hot air 100 mm
Fig. 2-1 The installation interval for 1 servo drive unit
Fig. 2-2 The installation interval for multiple servo drive units
17
GR-L
er Manual
18
Chapter Three Connection
CHAPTER THREE CONNECTION

User should carefully read the following cautions and execute it according to its
requirements; it will ensure that the operation is safe and successful.
The wiring should be performed by the qualified professional personnel and

Notice correctly connected it based upon its related explanations.
The wiring or inspection operation only can be performed after the servo drive
unit is turned off for 5min by confirming that each main circuit terminal is safe
voltage for the grounding by multimeter; otherwise, the electric shock may
occur.
Confirm that the servo drive unit and servo motor are correctly grounded.
Depart from the sharpened material and do not drag the cable by force during
wiring; otherwise, the electric shock or fault circuit may issue.
Do not cross the main circuit wiring and signal cable over the same pipeline and
bind them together. The former should be separated from the latter or cross
each other; its interval distance should be more than 30cm to prevent the strong
circuit from interfering for the signal cable, so that the servo unit will not be
normally operated.
Do not frequently turn on (ON) / turn off (OFF) the power, because there is
high-capacity capacitance inside the spindle servo drive unit; the strong charge
current may occur after the power is turned on. The component’s performance
inside the servo drive unit may descend if you continually ON/OFF; it is better to
intermit above 3min for the ON/OFF time.
Do not add the power capacity, surge absorber and wireless noisy filter
equipments etc. during the servo drive unit output side and servo motor.
The main circuit wiring and signal cable can not close to the heat-radiating
19
GR-L
L Series Bus AC
er Manual
equ
uipment and
d motor, so tthat it will be
e reduce its insulation pperformance
e due to
the
e heating.
The terminal protective

p co
over should be closed to
o avoid elecctric shock after
a the
ain circuit co
ma onnection is performed.
3.1 Peripheral Equipme

ent Conn
nection
Th
he usage of the servo un
nit needs to equip some
e peripheral equipment, selecting the correct
periphe
eral equipm
ment can be confirmed th
he stable op
peration for the servo u nit and serv
vo motor,
as well the life spa
an of the serrvo unit can be prolonge
ed.
It is necessaryy to note the
e peripheral equipment in the follow
wing figure:
z The equipment in the virtual fram ed by user, and
me is refine a the equuipment in th
he actual
ased from GS
frame can be purcha SK.
z Refer to the selectio
on of the bre
eaker, AC filter, insulation transform
mer, AC rea
actor and
actor (Appen
AC conta ndix B).
z The perip
pheral equip
pment markss with “Esse
ential Install”” in the figurre, which ca
an be not
only guarranteed the user’s safe
ety and reliab
bility for servo equipmeent, but also greately
reduced the loss in th
he user equ
uipment faultt.
z The peripheral equiipment marrs with “Opttional Installl” in the figgure, which
h can be
eed the stabiility for the sservo unit wh
guarante hen the userr power ambbient is poorr.
Preventt the electric

c shock hazzard! Notice
e the high temperature ! Avoid the remains
voltage;; it can be diisassembled

d after the power
p is cut off for 5min..
The sen
nsitive leaka
age currentt of the serrvo unit is bigger, beccause it is the high
frequency equipme
ent; it is neccessary to re
eliably and protectivelyy grounding, and the
grounding resistanc
ce should be
e less than 4Ω.
4
3.1.1 P
Periphera
al Equipm
ment Conn
nection of GR2000
0T-L Servvo Drive Unit
z The sing
gle peripherral equipme
ent connecttion figure for
f the GR22025T-L,
GR2030T
T-L, GR2045T-L series
s
20
Fig. 3-1 (a) Single peripheral equipment connection of GR2000T-L
z The single peripheral equipment connection figure for the GR2050T-L,

GR2075T-L, GR2100T-L series
21
GR-L
L Series Bus AC
er Manual
3 ～50/60Hz
3N
L
L1 L2 L3
380 V
(Required)
(R
Breaker
i d)
CNC
rear
E nc oder 3 E nc oder 4
AC3880 GSK988
8T□ system
E NCODE R3 E NCODE R4 CN51
CN5
2
V
Transformer
(Optional)
Bus A Bus B
AC
C220 GSKLinkA GSKLinkB
R Ser ie
R v o M ot or D
AC Se rv
s
r ive
GSKLink bus
Un it
Filter (Optional)
CHA R GE
P OW E R
C
N CN4
4
R ～
C
220V
S N
5 CN5
T
P C
N CN3
BRAKE
B1 3
B
U Encoder pos
sition
MOTOR
V
C
N
output
2 CN2
W
～
r
AC contactor
220V
(Required)
t
C
N CN8
8
C
N
1
PE
Encoder
Contro
ollable circuit position input
(Refer to the Sectionn

3.2.1
1 for details)
B
Brake resistancce (Optional )
S hort -circuit B & B1 without
exxternal brake rresistance ;
D isconnect the B & B1 with
exxternal brake rresistance .
Brake resista
ance is heat due e
to the discha rging; it is high
temperature, do not touch it
g from the
for preventing
scorching!
Fig. 3--1 (b) Single periphera

al equipment connection
n of GR20000T-L
22
3.1.2 Peripheral Equipment Connection of GR3000T-L Servo Drive Unit

z Single peripheral equipment connection figure of GR3000T-L series
Fig. 3-2 Single peripheral equipment connection of GR3000T-L
23
GR-L
L Series Bus AC
er Manual
3.1.3 P
Periphera
al Equipm
ment Conn
nection of GR-L Spindle Se
ervo Driv
ve Unit
z Single peripheral eq
quipment c
connection figure of GR3000Y-L sseries
The periipheral equ
uipment co nnection figure of the
e GR2000Y
Y-L and GR
R4000Y-L
are show
wn below; itt is only ne
eed to chang
ge the power level inp
put.
3N～50/60Hz
L1 L2 L3
3
380V
(Required)
Breaker
The 2nd positioon CNC

feedback inputt detects
the spindle enccoder rear
position signal , which Encoder 3 Encoder 4
can be carried out the ENCODE
E ENCODE CN5 CN5
exact orientatioon of GSK988T□ R3 R4 1 2
the spindle.
system
Filter (Optional)
Bus A Bus B
GSKLinkA GSKLinkB
GSKLink bus
GR
AC reactor (Optional)
CN4
～
380V
CN5
CN3
BRAKE
Encoder
CN2 position output
MO TOR
AC contactor
(Required)
CN8
～
380V
CN
N1
Encoder position
PE
input
Controllable circcuit Motor power

cable
(R
Refer to Sectionn 3.2.1
for details )
Motor fan
cable
Brake resisttance (Required )
External brake resistance

connects with PP, B;
Disconnect thee B1.
Do not touch the brake

ance fro avoiding
resista
burn, due
d to it is heat annd
high te
emperature basedd
upon discharging!
d
Fig
g. 3-3 Sing
gle spindle servo drive u
unit peripherral equipmen
nt connectioon of GR300
00Y-L
24
3.1.4 Product Connection for Multi-GSK-Link Spot Bus

z The multi-GSKLink bus connection of GR-L type (Only describe the bus
connection and regardless of the other connections.)
Fig. 3-4 GSKLink bus connection figure for multi servo drive units
3.2 Main Circuit Wiring
3.2.1 Function and Wiring of Main Circuit Connection Terminal

Terminal
Name Description
Mark
GR2000 3-pahse AC220V（85%～110%） 50/60Hz

AC power input
R, S, T 3-pahse AC380V（85%～110%） 50/60Hz
terminal GR3000
GR4000 3-pahse AC440V（85%～110%） 50/60Hz

r, t Controllable power Single-phase AC220V（85%～110%） 50/60Hz
GR2000
25
GR-L
L Series Bus AC
er Manual
GR3000 Single-p
phase AC380V
V（85%～1100%） 50/60Hz
z
GR4000 Single-p
phase AC440V
V（85%～1100%） 50/60Hz
z
AC
permane nt
Be sure
e to correctly connect
c the U,, V and W; oth
herwise,
magnetissm
the mottor may not noormally operatte.
synchronoous
motor
3-phasee AC output
U, V, W Be sure
e to correctly connect
c the U,, V and W; oth
herwise,
te
erminal
the mottor may not noormally operatte.
AC
Notice:: When configuring the spinndle motor outt of GSK,
asynchronoous
the mootor may gen nerate Err-277 alarm even n correct
motor
connection, in this ca
ase, any 2-phaase of U, V annd W can
hanged freely.
be exch
Protective
e grounding It is conneccted with the power
p and mo
otor groundingg cables, and the
t
PE
terminal
protection g
grounding res
sistance should be less thann 4Ω.
The B1 1 and B2 sho ould be perfoormed by sho ort-circuit
GR2025T when th
he internal bra
ake resistance
e is connecte
ed. When
Brake ressistance GR2030T the bra
ake capacity is inadequatee, the external brake
terminal GR2045T resistannce can be connected botth P and B te erminals;
P, B1, B GR2050T
Brake ressistance for simulta aneously, cutt off the connnection betw ween B1
the dynammic brake and B.
Connecct the external brake resistaance both P an
nd B
Other typess
termina
als.
Main circu
uit terminal wiring of GR2000T-L
G
R, S, T,
r, t P, B1, B PE
E
U,
U V, W
Adaptted
Product
motor rated
r
Terminal
Terminal
Terminal
Terminal
diameter
diameter
diameter
diameter
type
screw
screw
screw
screw
Cable
Cable
Cable
Cable
currentt I(A)
φmm
mm2
mm2
mm2
mm2
φmm
φmm
φmm
size
size
size
size
i
GR2025T-L I≤4.5 3.5 1.0 3.5 1 3.5

3 1.5 3.5 1.0
GR2030T-L 4.5＜I≤6 3.5 1.0 3.5 1 3.5

3 1.5 3.5 1.0
GR2045T-L 6＜I≤7
7.5 3.5 1.5 3.5 1 3.5
3 2 3.5 1.5
GR2050T-L 7.5＜I≤
≤10 3.5 1.5 3.5 1 3.5
3 2.5 4 1.5
GR2075T-L 10＜I≤
≤15 4 2.5 4 1 4 2.5 5 2.5
GR2100T-L 15＜I≤
≤20 6 2.5 4 1 6 4 5 2.5
GR2100T-L 20＜I≤
≤29 6 4 4 1 6 4 5 4
Main circu
uit terminal wiring of GR3000T-L
G
R, S, T，
r, t P, B PE
E
U,
U V, W
Adapted motor
m
Product
rated currrent
Terminal
Terminal
Terminal
Terminal
diameter
diameter
diameter
diameter
type
screw
screw
screw
screw
Cable
Cable
Cable
Cable
φmm
mm2
mm2
mm2
mm2
I(A)
φmm
φmm
φmm
size
size
size
size
i
GR3048T I≤7.5
5 3.5 1.0 3.5 1 3.5
3 2.5 4 1.0
26
GR3050T 7.5＜I≤10 4 1.5 4 1 4 2.5 5 1.5

GR3075T 10＜I≤15 6 2.5 4 1 6 2.5 5 2.5
GR3100T 15＜I≤20 6 2.5 4 1 6 4 6 2.5
GR3148T 20＜I≤27 6 4 4 1 6 4 6 4
GR3150T 27＜I≤34 6 6 4 1 6 4 6 6
GR3198T 34＜I≤45 6 6 4 1 6 4 6 6
Main circuit terminal wiring of GR2000Y-L

R, S, T，
r, t P, B PE
Adapted motor U, V, W
Product
rated current
Terminal
diameter
Terminal
diameter
Terminal
diameter
Terminal
diameter
type
screw
screw
screw
screw
Cable
Cable
Cable
Cable
φmm
mm2
mm2
mm2
mm2
φmm
φmm
φmm
I(A)
size
size
size
size
GR2050Y I≤10 3.5 1.5 3.5 1 3.5 2.5 4 1.5
GR2075Y 10＜I≤15 4 2.5 4 1 4 2.5 5 2.5
GR2100Y 15＜I≤29 6 4 4 1 6 2.5 5 4
Main circuit terminal wiring of GR3000Y-L and GR4000Y-L

R, S, T，
r, t P, B PE
U, V, W
Product Adapted motor
Terminal
Terminal
Terminal
Terminal
diameter
diameter
diameter
diameter
type rated current I(A)
screw
screw
screw
screw
Cable
Cable
Cable
Cable
φmm
φmm
mm2
mm2
mm2
mm2
φmm
φmm
size
size
size
size
GR3048
I≤8 3.5 1.0 3.5 1 3.5 2.5 4 1.0
GR4048
GR3050
8＜I≤15.5 4 1.5 4 1 4 2.5 5 1.5
GR4050
GR3075
15.5＜I≤20 6 2.5 4 1 6 2.5 5 2.5
GR4075
GR3100
20＜I≤27 6 4 4 1 6 4 6 4
GR4100
GR3148
27＜I≤34 6 6 4 1 6 4 6 6
GR4148
GR3150
34＜I≤40 6 8 4 1 6 4 6 8
GR4150
GR3150
40＜I≤49 6 10 4 1 6 4 6 10
GR4150
GR3198
49＜I≤60 6 10 4 1 6 4 6 10
GR4198
27
GR-L
L Series Bus AC
er Manual
3.2.2 T
Typical Wiring
W Exa
ample of M
Main Circ
cuit
z Main circ
cuit wiring example off GR2000T-L series
Fig. 3-5 Main circuitt wiring of GR2000T-L

G series
s
z It is necessa ary to selecct the suita able breakeer MCCB based upon the
desscription in Appendix
A B if user referr to the abov
vementionedd wiring.
z If tw
wo or more servo drive units are shhared with one
o transform mer, it is be
etter to
mo ount a break
ker of each sservo drive unit
u at the seecondary traansformer.
z The B1 and B terminals should be short-circuite
s ed when doo not conne ect the
extternal brake resistance; however, itt must be cut off when cconnects.
Notice
e z The external brake
b resista
ance surface e temperatu ure may extrremely high when
e servo drive
the e unit is ope rated, so it is better to in
nstall a proteective enclo
osure.
z The equipped motor powe er in our com
mpany has been
b markedd U, V, W and PE
wirring terminals, which sh
hould be co onnected witth the one oof the servo
o drive
uniit one by one; otherwise
e, the motor may not normally operaate.
z Coorrectly connect the p protective grounding
g terminal, annd its grou
unding
ressistance sho
ould be less than or equals to 4Ω.
28
z Main circuit wiring example of GR3000T-L series
Fig. 3-6 Main circuit wiring of GR3000T-L series
z It is necessary to select the suitable breaker MCCB based upon the

description in Appendix B if user refer to the abovementioned wiring.
z The brake resistance surface temperature may extremely high when the servo
drive unit is operated, so it is better to install a protective enclosure.
Notice z The equipped motor power in our company has been marked U, V, W and PE
wiring terminals, which should be connected with the one of the servo drive
unit one by one; otherwise, the motor may not normally operate.
z Correctly connect the protective grounding terminal, and its grounding
resistance should be less than or equals to 4Ω.
29
GR-L
L Series Bus AC
er Manual
z Main
n circuit wirring examp le of GR200
00Y-L series
CNC system
s ope
eration
pane
el ON/OFF button
b
ON
OFF
3N～
～50/60Hz 220 V
KM
1 AC
RC
MCCC
B ～
FIL Cooling fan
n
PE
E U
3N～ 50HHz
V M
220 V ～
W
L
KM GR2000Y Y
1 R Series S
Spindle mottor
2
S U
T V
3 M
PE W
4 3～
PE 1
Motor
r
grounding poiint
t
Encoder
Cut off B and B1 when
CN2 feedback
external brake
e resistance
is conne
ected signal
B
B and B
B1 should be
performed by short-circuit
when the external brake B1
resistance d
does not connect ct
.
CN4 Bus A
P
CNC
CN5 Bus B
m
system
Bra ke resistan
nce
Fig. 3-7 Main circuitt wiring of GR2000Y-L

G series
s
z GR
R2050Y is mounted
m an internal bra
ake resistannce, and it can be seleect an
extternal one; however,
h do
o not use thee internal on
ne and exterrnal one tog
gether!
GR
R2075Y and GR2100Y a are without internal
i brak
ke resistancce.
z The brake resiistance surfa ace tempera ature may ex xtremely higgh when the servo
drivve unit is op
perated, so itt is better to
o install a pro
otective encclosure!
Notice
e
z No
ot all of the motor
m connecction U, V and W are co
orrespondingg to the one of the
serrvo drive unnit; if the mo a the 1st opperation time, the
otor generates Err-27 at
cabble phase-frrequency of user is then n prompted the error whiich means not
n the
serrvo drive unnit is out-of--order; any two phasess of the U, V and W can c be
excchanged after the powe er is turned off
o for 5min.
unding
ressistance sho
30
z Main circuit wiring example of GR3000Y-L series
CNC system operation

panel ON/OFF button
ON
OFF
3N 50/60Hz 380V
KM
1 AC
RC
MCC
B
FIL Cooling fan

PE U
3N 50Hz
V M
380V
W
L
KM GR3000Y Spindle
1 R Series motor
2
S U
T V 3 M
PE W 4 3
PE 1
Motor
r grounding point
t
Encoder
CN2 feedback
signal
B
B1 vacancy, do not
B1
connect
CN4 Bus A
P
CNC
CN5 Bus B
system
Brake resistance
Fig. 3-8 main circuit wiring of GR3000Y-L series
z It is necessary to select the suitable breaker MCCB based upon the

description in Appendix B if user refer to the abovementioned wiring.
z The brake resistance surface temperature may extremely high when the servo
drive unit is operated, so it is better to install a protective enclosure!
z Not all of the motor connection U, V and W are corresponding to the one of the
Notice servo drive unit; if the motor generates Err-27 at the 1st operation time, the
cable phase-frequency of user is then prompted the error which means not the
servo drive unit is out-of-order; any two phases of the U, V and W can be
exchanged after the power is turned off for 5min.
z Correctly connect the protective grounding terminal, and its grounding
resistance should be less than or equals to 4Ω.
31
GR-L
L Series Bus AC
er Manual
z Main circ
cuit wiring example off GR4000Y--L
CNC system
s operation
pane
el ON/OFF button
ON
OFF
F
3N～50
0/60Hz 440 V
KM
1 AC
RC
R
MCC
B ～
F
FIL Cooling f an
PE U
3N～ 500Hz
V M
440 V ～
W
L
KM GR40000Y Spindle
e
1 R Series
s 2
motor
S U
T V
3 M
PE W
4 3～
PE 1
Motor grouunding
r
positio
on
t
Encoder
CN2 feedback
signal
B
B1 va
acancy , do no
ot
connect B1
CN4 Buss A
P
CNC C
CN5 Buss B
syste
em
Brake
e resistancce
Fig. 3-9 Main cirrcuit wiring of

o GR4000Y
Y-L
z The brake resiistance surfa ace tempera ature may ex xtremely higgh when the servo
drivve unit is op
perated, so itt is better to
o install a pro
otective encclosure!
z No
ot all of the motor
m connecction U, V and W are co
orrespondingg to the one of the
Notice
e serrvo drive unnit; if the mo a the 1st opperation time, the
otor generates Err-27 at
cabble phase-frrequency of user is then n prompted the error whiich means not
n the
serrvo drive unnit is out-of--order; any two phasess of the U, V and W can c be
excchanged after the powe er is turned off
o for 5min.
unding
ressistance sho
32
3.3 Connection of Controllable Signal
3.3.1 CN2 Motor Encoder Feedback Interface & Wiring

CN2 is the 26-core high density socket which matches with 26-core high density plug (Type:
MDR10126-3000-PE, for 3M Company) of its encoder wiring; refer to the following pin figure.
Fig. 3-10 CN2 wiring plug pin (Welding cable side)
Pin No. Name Meaning Pin No. Name Meaning

Motor temperature
1 OH inspection
14 BAT3V6 Connect to the 3.6V battery (+)
2 W＋ 15 0V
3 W－ 16 0V
Encoder power (-)
4 V＋ 17 0V
5 V－ 18 NC
6 U＋ 19 5V
Connect the
7 U－ incremental 20 5V Encoder power (+)
8 Z＋ encoder feedback 21 5V
signal
9 Z－ 22 NC
10 B＋ 23 MA＋
11 B－ 24 MA－ Absolute encoder feedback
12 A＋ 25 SL＋ signal
13 A－ 26 SL－
1. Pin 2 to Pin 13 in CN2 are incremental encoder interface; the signal cable is differential
drive connection method; refer to the following wiring circuit.
2. OH (CN2-1) is used for connecting the overheating inspection components inside the
servo motor, so that the servo drive unit owns motor overheating protective function. The servo
motor made in GSK is without overheating protective component so disconnect this signal.
3. Pin 14 and Pins 23～26 in CN2 are absolute encoder feedback signal which its input
circuit is quadruple differential bus transceiver that it is consistent with ANSI standard
EIA/TIA-422-B and RS-485. The wiring schematic is shown below:
33
GR-L
L Series Bus AC
er Manual
Enccoder Servo u
unit
RS-485
DATA+ SL+
DATA- SL-
1. The sta
andard wirring of CN2
2 matches with SJT series perrmanent syynchronous
s motor
absolute e
encoder.
DATA - 10 26 SL-
DATA + 13 25 SL+
CLOCK
C - 12 24 MA-
Servo unitit
S
CLOCK
C + 15 23 MA+
VB 11 14 BAAT3V6
2 1 5V 2
5 3
20 5V
100 6 21 5V CN N2
13 11
GND 3 16 0V
15 144 17 0V
FG 1 Metal shell
Plug (Welding cab
ble side )
Fig. 3-11 Wiring of CN2

C matches
s with SJT sseries perma
anent synchronous motoor absolute encoder
1. The abovementiioned figure

e is simulta uitable for both the absolute
aneously su
encoder A4 I (DANA
AHER BISS Agreement)) and A4 II (T
TAMAGAWA
WA Agreemen
nt).
ot install 3.6V
2. Do no V battery wh
hen servo drrive unit mattches with A
A4 I encoder.
3. It is im
mportant to in
nstall the 3.6
6V battery when
w servo drive
d unit is matched with A4 II
encoder.
2. The
e standard wiring of CN2
C matche
es with SJT
T series pe
ermanent ssynchronou
us motor
increm
mental enco
oder.
34
12
13
10
11
8
9
6
7
4
5
2
3
2 1 CN2
5 3 19
10 6 20
13 11 21
15
15 14 16
17
Plug (Welding cable side) Metal shell
Fig. 3-12 Wiring of CN2 matches with SJT series permanent synchronous motor incremental
encoder
z The length between motor power cable and motor encoder feedback signal
cable should be within 20 and separated more than 30cm. Two cables can not
be shared with a same pipeline or bound with together.
Notice z The signal cable should be used the twisted shielding cable, and its sectional
is 0.15mm2～0.20mm2, and the shielding layer must be connected with PE
terminal.
3. The standard wiring of CN2 matches with the ZJY208A and ZJY265A series spindle
asynchronous motor incremental encoder
R O
12 13
T H
3 A+ 12 A+
CN2
6 A- 13 A-
4 B+ 10 B+
7 B- 11 B-
5 Z+ 8 Z+
8 Z- 9 Z-
19 5V
1 Vcc 20 5V
21 5V
2 GND 15 0V
16 0V
Clamp at the
17 0V
cable-input port Metal shell
Motor side connects Servo unit side
with 2-pin round connects with 26-pin
connector.
Cable high density plug.
Fig. 3-13 CN2 matches with ZJY series spindle motor encoder/12-female industry plug wiring
35
GR-L
L Series Bus AC
er Manual
4. The
e standard wiring of CN2 match
hes with th
he ZJY182 series spin
ndle asynch
hronous
motorr incrementa
al encode
6 A+ 12 A+
Motor encoder output terminal

10 A- 13 A- CN 2
7 B+ 10 B+
Spindle servo drive unit

11 B- 11 B-
8 Z+ 8 Z+
12 Z- 9 Z-
9 VVcc 19 5VV
20 5V
Plug (Back
k)
21 5VV
schematic
c 5 GGND 16 00V
17 0V
1 PE
Metal sh
hell Metal sheell
Motor side 26p
6pin high density
connects with
w 12pin plugg connects at the
t
Cable
C
connnector sservo unit side
e
Fig. 3-14 2 matching with

CN2 w ZJY182 series spind
dle motor en
ncoder/12PIIN plug wirin
ng
e standard wiring of CN2

5. The C match
hes with the
e ZJY208A and ZJY2665A series spindle
asynchronous motor
m absolu
ute encoderr
R O
8 1
Spindle servo motor encoder
T H CN
N2
12 11 D
DAT SL
9 A 25
2
1
10 8 C LOC +
10 23
2 MA+
7 6 D K
DATA SL
11 26
2
5 3 CL -
LOCK -
12 24
2 MA-
2 1 -
1 Vcc 19
1 5V
1
12-pin round p
plug
20 5V
(Welding sid
de)
2 G
GND 15 0V
Install a
at the 16 0V
cable-i nput
portrt Metal
M shell
Motor side
s connects Servo unit side
with 2-pin
2 round connects w with 26 -male
coonnector
Cable
C high dennsity plug .
Fig. 3-15
5 CN2 matches with ZJY
Z series sspindle moto
or encoder/12-female inddustry plug wiring
w
6. The
e standard wiring of CN2 matc
ches with the
t ZJY208
8 and ZJY2265 series spindle
asynchronous motor
m increm
mental enco
oder
36
Fig. 3-16 CN2 matches with ZJY series spindle motor encoder/15-female industry plug wiring
3.3.2 The 2nd Position Encoder Feedback Interface and Wiring of CN3
User can select the 2nd position encoder feedback signal input interface CN3 (spindle
encoder feedback input) according to requirements; it can be composed of the 2nd position
closed-loop with the servo drive unit by connecting the 2nd position encoder.
CN3 is the 20-core high density socket which matches with 20-core high density plug (Type:
MDR10120-3000-PE, for 3M Company) of its encoder wiring; refer to the following pin figure.
Fig. 3-17 CN3 wiring plug pin figure (Welding cable side)
Pin No. Name Meaning Pin No. Name Meaning
1 SCZ＋ 11 BAT3V6 Absolute encoder battery

power
2 SCZ－ 12 0V
The 2nd position
3 SCB＋ 13 NC
incremental
4 SCB－ encoder signal 14 NC
5 SCA＋ 15 NC
6 SCA－ 16 NC
7 SCSL－ 17 NC
The 2nd position
8 SCSL＋ 18 NC
absolute encoder
9 SCMA－ 19 0V Encoder power (-)
feedback signal
10 SCMA＋ 20 5V Encoder power (+)
37
GR-L
L Series Bus AC
er Manual
The 2nnd position encoder

e feed
dback signa
al interface of
o the GR-L
L series servvo drive uniit can be
connected with the incremental or absolute en
ncoder.
1. The
e wiring betw a the 2nd position in
ween CN3 and ncremental encoder
A+ 5 SCA+
S
A- 6 SCA-
S
B+ 3 SCB+
S CNN3
The 2nd position encoder
B- 4 SCB-
S
Spindle servo unit

Z+ 1 SCZ+
S
Z- 2 SCZ-
S
Vcc 20 5V
GND 19 0V
FG Metal shell
Fiig. 3-18 The
e wiring betw
ween CN3 an
nd the incremental encooder
2. The
e wiring betw a the 2nd position ab
ween CN3 and bsolute enc
coder
DAT
TA - 7 SCSLL -
DAT
TA + 8 SCSLL +
Absolute encoder
Servo unit
CLOC
CK - 9 SCMAA -
CLOC
CK + 10
1 SCMAA +
VB
B 11
1 BAT3VV6
5V
V 20
2 5 V
CN3
GN
ND 19
1 0 V
12
1 0 V
FG
G Metal
M she
ell
Fig. 3-19 The wirring between

n CN3 and absolute
a enc
coder of GR
R-L series
38
3.3.3 CN4, CN5 Ethernet Spot Bus GSKLink Interface and Wiring
CN4 & CN5 are used the RJ45 socket from HARTING Company, refer to the RJ45 plug
illustration for its pin definition.
Pin No. Name Meaning

1 TX＋
Data delivery
2 TX－
3 RX＋
Data acceptance
6 RX－
The communication cable connection diagram among GR-L series servos, alternatively, between
the CNC system and servo unit.
The GSKLink interface of the CNC system is connected by the CN4 or CN5 interface, which
carries out the real-time communication with the CNC system. The GR-L series servo unit can be
performed by the control, monitoring, administration, debugging and tuning. (Refer to the Section 5.4
for details)
GR servo unit should be correctly set the following parameters, which can be established the
Ethernet communication with the CNC.
Relevant Parameter
Description Unit Default Application
para. range
Controllable method selection 9～25 21 P，S
PA4
PA4=21: GSKLink Ethernet communication function
PA156 Servo unit slave number 1～20 1 P，S
39
GR-L
L Series Bus AC
er Manual
Th
he servo unit, establishe
es the bus communicat
c tion with thee CNC syste
em, may
be mo
ore than one; set the corrresponding servo slave
e number witth the CNC system,
s
so tha
at CNC can be controlle
ed one servo
o unit. There
efore, the seervo unit con
nnected
with a same CNC system can
n not be set the repeated
d slave num
mber.
3.3.4 C
CN1 Brakke Releas
sing Signa
al
CN1 in
nterface is re
eleasing signal socket fo
or the 2-pin motor brake
e; the relay N
NO contact is inside
it.
N
2
HOLD1
C
N
1 HOLD2
N N1 peripherral loading selection should be less than or equal to the

Notice: CN
1
1.0A/30VDC
C, 0.3A/60VD
DC and 0.5A
A/125VAC！
1.. Screwdrive
er in
2. Inssert the cable

e
z OLD signall wiring exa

HO ample
40
Servo unit
External relay output

15V 24V
3.3.5 I/O Information by Bus Interaction

Unlike the GR-N and GR-C servo drive units, GR-L servo drive unit is interacted with the most
I/O information by GSKLink bus and CNC system. Maintainer can judge whether the function in servo
drive unit and CNC system communication are normal by monitoring the state of DL-IN and DL-OUT.
CNC system that sends to the input command DL-IN of the servo drive unit is as follows:
Explanation: If the nixie light of the abovementioned figure is ON, the command signal input is
enabled; whereas, OFF is disabled.
Name Function Name Function
SON Enabling input OSTA Orientation start input
GAIN Rigid tapping input ALRS Alarm clear input
SFR Positive input ZSL Zero speed clamping input
SRV Reverse input BREF Machinery locking input
PSTI Speed position shift input
CNC system that sends to the output command DL-OUT of the servo drive unit is as follows:
41
GR-L
L Series Bus AC
er Manual
HOLD ZS
SP PAR COI
IN
SA
AR ALM RA
AP PSTO
Explan
nation: If the nixie light of the abovvementioned
d figure is ON
N, the comm
mand signal input is
enabled; whereas, OFF
F is disabled
d.
Nam
me Functiion Nam
me Functiion
PST
TO S
Speed position
n shift state COIN Orie
entation comppletion output
RAP
P Rigid tapping output PAR
R Position arrivval output
ALM
M Alarm ou
utput SAR
R Speed arrivaal output
ZSP
P Zero ou
utput HOL
LD Hold releasinng output
3.3.6 C
CN8 Position Feed
dback Ou
utput Interface and
d Wiring
The po
osition feedb
back output signal is tre
eated the da
ata inside the t 1st or
e servo drivee unit from the
2nd position
n encoder (P
PG), then output to the in
nstruction co
ontrol unit by
y CN8 baseed upon the set
s pulse
numbers to
o content witth the closed nction of the instruction control unit position etc.
d control fun
sity socket, its adapted

CN8 iss the 14-corre high dens d encoder wiring
w uses 114-core high
h density
plug (Type
e MDR10214
4-52A2PL, 3M Compan
ny’s produc
ct); refer to the followinng figure forr the pin
distribution:
8 10 12 14
4
9 11 13
1 3 5 7
2 4 6
Fig. 3-21 CN8 wiring

g plug pin (W
Welding cab
ble side)
Pin
n No. Name Meaning o.
Pin No Name M
Meaning
1 G
GND 0V 8 GND
D 0V
2 ZO－
PZ 9 NC
Possition
3 ZO＋
PZ feedback outp ut 10 NC
sign
nal
4 BO－
PB 11 NC
42
5 PBO＋ 12 NC
6 PAO－ 13 NC
7 PAO＋ 14 NC
The wiring circuit is:

External difference
output
speed optical
External high
coupling
t
There are two types for wave output: (Wherein, e= )
2
Relevant Parameter Initializati

Description Unit Application
para. range on
Position output signal reverse 0～1 0 P, S
PA34＝0, Maintain the original relationship of the CN8 position feedback output signal;
PA34
PA34＝1, The phase position between the position feedback output signal PAO and PBO phases are
reversed.
Position feedback output pulse
PA37 number Position feedback output Pulse 1024～30000 10000 P,S
pulse number
43
GR-L
L Series Bus AC
er Manual
When the motor

m (or spind
dle) encoder ssignal is absolu
ute encoder signal, set the ccorresponding
g position
feedback ou
utput pulse nu
umber after the
e motor rotate
es one circle. It
I is better to ccalculate it bas
sed upon
the comman
nd unit of the machinery an d instruction control
c unit.
For example:
As the above-mentioned
d figure, the n
numerical valu 37 means it coounts based upon the
ue of the PA3
edge signall of the A/B ph
hase pulse; th
hat is, count once while cap
pturing 1 edgee signal. And therefore,
PA37=64 means
m the PA
AO (or PBO) p
pulse numbers
s from the servo drive unitt output is 16 after the
motor (or sp
pindle) rotates
s one circle.
other example: PA37=10000

And for ano 0, the pulse numbers of the
e actual positioon output PAO
O or PBO
is:
100000
PAO or
o PBO pulse numbers = 4 =2500 (pu
ulse/circle)
Th
he wiring illu
ustration betw and 988T□ system
ween CN8 a s is sh
hown below::
MDR14 plug (E
EncodeX ) DB
B9 female plug
p
PAO+ 7 1 A+
PAO- 6 6 A-
8
CN8
2 B+ 988 T□
□
PBO+ 5
Servo o
unit CNCC
PBO- 4 7 B-
SYSTE
EM
PZO+ 3 3 Z+
PZO- 2 8 Z-
Metal cla
amping chip Metal
M shell
Fig. 3-22 CN8 wiring

g plug pin (W
Welding cab
ble side)
44
Chapter Four Display & Operation
CHAPTER FOUR DISPLAY & OPERATION
4.1 Operation Panel

¾ Refer to the Section 1.1.3 in Chapter One for the function brief of each component on the
AC servo drive unit panel.
¾ The button function details as follows:
Button Name Explanation
1. Parameter series number, parameter value addition
2. Next menu page up
‘Addition’ button
3. Add the motor run velocity in Manual mode
4. Motor CCW starts in JOG mode.
1. Parameter series number, parameter value decreasing
‘Decrease’ 2. Next menu page down
button 3. Decrease the motor run velocity in Manual mode.
4. Motor CW starts in JOG mode.
1. Select the modification bit of the parameter series number
‘Shift’ button
2. Select the modification bit of the parameter value
‘Return’ button Return to the previous menu or cancel the operation
‘Enter button Enter the next menu or confirm the data setting
The shift function of ‘ ’ is introduced in the parameter setting, the value of the PA126 is
changed into 2045 from -2045; refer to the following steps:
1. In the above example, directly increase in the LED2 bit by the shifting key, -45 does
not change to the 1045 instead of -45+1000＝955; It is the calculation result of the servo
drive unit.
2. When the parameter value is modified, the decimal point indicator at the lower right
corner of the 6-segment nixie display tube is always turned on; this indicator is turned off
45
GR-L
L Series Bus AC
er Manual
affter pressing
g , it me
eans that th
he numerica
al value is disabled. If thhe decimal point
indicator doess not OFF, press

p to
o retract, the
e parameterr setting is thhen disabled
d.
4.2 Dis
splay Me
enu
6--segment nixie tube co

omposes off the monitoring
window oduct; admi nister its content
w of the GS-L series pro
by menu’s form. When
W ED5, LED4 i n the right figure
the LE f
is the flash state, it means th o drive unit is on
hat the servo
the ala
arm state.
Nixie tu
ube display contains of 3 levels me
enus:
The 1st level is the
t function
n type whicch includes the State monitoring, Parameterr setting,
Parameter administratiion, Manual operation a
and JOG ope
eration etc.
The 2nnd menu is meaning
m whic
ch includes tthe functions such as th
he Displayedd content, Pa
arameter
function and Register operation
o etc
c.
The 3rdd menu is co
ontent which
h includes th
he value of the monitorin
ng and the pparameter ettc.
46
Fig. 4.1 The operation of the display menu
47
GR-L
L Series Bus AC
er Manual
4.3 Sta
ate Monittoring
is th
he state monitoring, use
er can not only
o select different
d monnitoring state
es in this
menu, but a
also set the value of the
e parameter PA03, and the initial monitoring staate when se
ervo drive
unit is ON.
Parameter Initial Pow
wer-on
Op
peration M
Monitoring data Exp
planation
value monitoring
Current motor speeed100r/min 【1】
PA3=0
Current motor posittion LOW (Pulse)

PA3=1
【2】
PA3=2 Current motor posittion HIGH (×10000 pulse)
Positio
on command LOW (Pulse) 【2】
PA3=3
PA3=4 Positio
on command HIGH (×10000)
PA3=5 Position error LLOW (Pulse) 【2】
PA3=6 Positio
on error HIGH
H (×10000 Pulse)
PA3=7 Motorr current is 2.33A
PA3=8 (Reserved))
PA3=9 Velocity command iis 210r/min
PA3=10 (Reserved))
PA3=11 (Reserved))
PA3=12 (Reserved))
PA3=13 ator temperatuure is 32o c.

Radia
PA3=14 (Reserved))
PA3=15 DC bu
us voltage is 3320V
PA3=16 Alarm
m display No.9
PA3=17 Being operated 3】

【3
PA3=18 (Reserved))
PA3=19 (Reserved))
PA3=20 Outpu
ut point state m
monitoring 【4】
【
PA3=21 (Reserved))
PA3=22 Hardw
ware version nnumber
PA3=23 Software version nuumber
The 2nd position enncoder Z puls

se absolute
PA3=24
positio
on LOW is 32556.
48
The 2nd position encoder Z pulse absolute

PA3=25
position HIGH is 6.
Motor encoder Z pulse absolute position
PA3=26
LOW is 3256.
Motor encoder Z pulse absolute position
PA3=27
HIGH is 6.
The 2nd position encoder single-core
PA3=28
absolute position LOW.
The 2nd position encoder single-core
PA3=29
absolute position HIGH.
The 2nd position encoder relative position
PA3=30
LOW.
The 2nd position encoder relative position
PA3=31
HIGH
The 1st position encoder single-core position
PA3=32
LOW.
The 1st position encoder single-core position
PA3=33
HIGH.
The 1st position multi-coil encoder numbers
PA3=34
LOW.
The 1st position multi-coil encoder numbers
PA3=35
HIGH.
PA3=36 The 1st position encoder relative LOW.
PA3=37 The 1st position encoder relative LOW.
[1] “r” is regarded as the motor’s speed code in , 100.0 means the motor speed is
the reverse direction 100r/min. The negative speed displays if it operates CW;
its unit is r/min.
Explanation: When the servo drive unit drives the spindle motor, its speed displays
, it only can be accurate to 1r/min.
[2] The position value of the motor encoder feedback consists of POS. (Higher 5-bit) + POS
(Lower 5-bit).
For example: × 100000 ＋＝1845806 pulses.
Similar, the position command pulse value is also composes of CPO． (Higher 5-bit) ＋
CPO (Lower 5-bit)
For example: × 100000 ＋＝1845810 pulses

The relationship between CPO and POS is: (When the motor stillness)
The calculation format when the electric gear ratio of the position error (EPO) is 1:1:
－＝
－＝
49
GR-L
L Series Bus AC
er Manual
E
Explanation
n: When PA
A97=1, shows
s the current
c posittion increme
ent of the
m
motor encod
der; when PA o of the 2nd position enncoder.
A97=0, it dissplays the one
Relattive PA97
7=1, Selecting
g the motor en
ncoder signal regards as the
e position feeddback input sig
gnal;
parammeter PA97 g the 2nd posit ion input signa

7=0, Selecting al treats as the
e position feeddback input signal.
[3] Operation sta
ate display
Servvo unit main circuit is already
y charged
and eenabled .
Servvo unit main circuit uncharge

ed
Servvo unit main circuit is already

y charged
inste
ead of disabling .
[4] Output point state

s monito
oring:
HOLD ZSP PSR
ALM
E
Explanation
n: g signal statee via CN7.
moniitors the brake releasing
The o
operation method of
o the settiing state monitoring
m g
For e
example: Th
here are tw
wo methods to call the
e state monitoring relatted with the
e current
position low
wer 5-bit ws:
, is as follow
od 1: Directly select the
Metho e state monittoring
Metho
od 2: Selectt the state monitoring
m byy parameterr
Press twice
Being mod
dified , dot ON
Modified,, dot flashes

Pow
wer-on
Press twice
aggain
Dot flash
Press thrice
Fig. 4--2 The mo

onitoring ope
eration of the
e parameterr selection sttate
50
4.4 Parameter Setting

¾ Recover the operation of the motor default parameter
The parameter value after performing the initialization is regarded as the initialization value; the
one after performing the motor default parameter operation is called default value.
1. Input the specified password for modifying the motor, that is PA0=385.
2. Search current motor correspondence with the motor type code based upon the
Appendix A Motor Type Code Table
3. Input the motor type code PA1, then enter the parameter administration menu by
, perform the operation, and then complete the operation of the

motor default parameter recovery.
Related Parameter Initialization

parameter range value
Parameter modifies
0～9999 315 P, S
PA0 password
The user parameter can be altered when PA0＝315.
PA1 Motor type code 0～1329 0 P, S
To recover the 130SJT-M100D (A) (motor type code is 4) motor default parameter is taken an
example; refer to the following operation:
Being modified, dot

flashes
Press twice Press twice
Dot flash
To be modified, dot
flashes
3 seconds
To be modified bit, dot
flashes
Fig. 4-3 Recover the motor’s default parameter
51
GR-L
L Series Bus AC
er Manual
1. After the
e parameter is
s altered on sservo drive unnit panel, it on
nly can be ennabled by . In this
case, the altered
a parameeter is immediiately reacted to the control. If you unsatiisfy the being modified
parameter value, press the for retracting ins

stead of , and then thhe parameter value is
recoverd in
nto the one be
efore altering. If you want tha
at of the modified parameteer can be eanb
bled after
the power is
i turned off, itt is better perfform the param meter save opperation .
2. The para
ameter relatedd with the moto or is written in
nto the defaultt value by settting the motor’’s default
parameter.. User, also, can
c judge whe
ether the defau
ult parameter of the servo ddrive unit is su
uitable for
the driving motor, based
d upon the vallue (refer to th
he Appendix A)
A of the PA1 parameter. Iff the PA1
parameter value does no
ot correspondiing to the moto
or type code, the
t motor mayy not normally
y operate.
4.5 Parameter Adminis

stration
The pa
arameter wrrite, read, ba
ackup, recovvery backup
p and default value callling are described in
servo unit ffor the para ection. The data memory relationshhip in the pa
ameter administration se arameter
administrattion; refer to the followin
ng table.
Para.
System ON： EEPPROM Mem
mory
area
Para.
ave ：
Para.sa Memory EEP
PROM
area
Para.
Para. re
ead ： EEP ROM Mem
mory
area
Backup
Para. back
kup： Memory EEP
PROM
area
Backup Backup
： EEP ROM Mem
mory
recovery y area
Default value
v
： Pa
ara. default Memory
y， EEPROM P
Para. area
callingg
Initializa
ation Para.
： Memorry， EEPROM P
Para. area
operatioon nitialization
in
z EE－SEt Parrameter Sav

ving
It mean
ns that the parameter
p in
n the memorry is written to the EEPR
ROM param
meter area. The
T value
in the mem
mory can be only change
ed when use
er modifies the
t parametter, howeverr, it will be re
ecovered
to the orig
ginal numeriical value when
w the po
ower is turn
ned on aga
ain. If you w
want to cha
ange the
parameter value perm
manently, it is necessaryy to perform
m the param
meter savingg operation, and the
parameter value in the
e memory should
s be w
written to the
e EEPROM
M parameterr area; and then the
arameter value will be used
modified pa u after th e power is turned on ne
ext time;
z EE－rd Parameter Read

d
It means that the data in the EEPROM p
parameter area
a is read to the mem
mory. This procedure
may autom
matically perform once when the power is turned on. At
A the begiinning, the memory
parameter value is ide
entical with the parame ter area of the EEPRO
OM. The parrameter valu
ue in the
memory will be chang
ged if user alters the parameter. When userr does not ssatisfy the modified
52
parameter or debugged parameter, perform the parameter read operation; then the data in the
EEPROM parameter area can be read to the memory again, and then recover to the parameter just
when the power-on;
z EE－bA Parameter Backup
Write the parameter in the memory to the EEPROM backup area. This is for preventing that user
modifies the parameter incorrectly and can return to the original parameter. User should be backup
the parameter firstly after debugging the motor’s capacity.
z EE－rs Backup Recovery
Read the parameter in the EEPROM backup area to the memory. This parameter value should
be written to operation; otherwise, it will still the original parameter value after the power is turned on
again.
z EE－dEF Call out the default value
It means that the default value of one motor’s relative parameter is read to the memory, and the
write to the EEPROM parameter area; the default parameter will be used next time when the power is
turned on again. (Refer to the Section 4.4 Parameter Setting)
z EE－Int Initialization Operation
The overall parameters of the servo drive unit are recovered to the factory initialization state.
Notice! The operation is protected by special password, user can not operate freely!
¾ Parameter administration operation
53
GR-L
L Series Bus AC
er Manual
¾ Pa
arameter sa
aving operatiion illustratio
on
Power on
n
Press quintu
uple Press twic
ce
Dot flashees, the

modification bit is at 0.
Press twice
Modification
Data is modif ied, 0-
al.
bit norma
3 seconds
Dot flashe es, the Data modification affirms,0-
modification b
bit is at 0. bit point OFF.
Fig. 4-4 The operation

n steps for saving
s the parameter
54
Chapter Five Operation
CHAPTER FIVE OPERATION

This chapter will introduce the debugging operation of the servo drive unit based upon the
working method set by the PA4 parameter.
Relative Parameter Initialization
PA4 Working method selection 9～25 21 P, S
z PA4=9: Manual method
To operate in the menu, perform the acceleration or deceleration by ‘ or

’ separately.
z PA4=10: JOG method
To operate in the menu, set the JOG velocity value of the PA124, and then
perform the CCW or CW operation by ‘ or ’ separately.
z PA4=21: GSKLink bus control method
The drive unit is carried out the real-time transmission of the command control and
feedback data to simplify the connection by GSKLink bus and CNC, avoid the transmission
distortion when using the analog and pulse signals; Also, it supports the real-time monitoring,
parameter administration and process command treatment of the servo drive unit for the
CNC.
Usually, there are four steps for operating a new servo drive unit as follows:
Correct Parameter Basis debugging Function

wiring setting operation debugging
Mainly, the previous three steps are described in this chapter, so that user can operate the servo
drive equipment faster.
When function debugging is performed based upon the user’s different requirements, refer to the
Function Debugging in the Chapter Six.
5.1 Ensure Correct Wiring
z It is suggest that user firstly perform the Manual or JOG operation without connecting
the loading when using the servo drive unit at the first time. Ensure that the servo
drive unit and motor can be normally operated after transporting, vibrating or
installing.
z Connect the CNC system after confirming the drive equipment can be normally
operated based upon disconnecting the loading; user can execut the debugging and
operation of the velocity or position method according to their actual requirements.
z The loading operation can be connected and performed after the dubugging, such as
the signal connection, parameter setting and motor operation, are normally performed.
55
GR-L
L Series Bus AC
er Manual
Firstly,, correctly connect

c the servo drive unit and motor
m based upon the “S
Section 3.2..2 Main
Circuit Typ
pical Wiring Example”; ensure
e that the motor is disconnected with thhe loading. After
A the
connection is correctly connected, the power-o
on inspectio
on is then pe
erformed as follows:
Inspection
n item Inspectiion method
Inspectt whether the specification of the servo drive unit an

nd Check the nameplate oof the servo drive
d unit and
motor is matched. motor acc
cording to the User Manual
Refer to the Appendixx B Periphera

al Equipment
Inspectt whether con nnect the corrrect breaker, contactor an
nd
insulatiion transforme
er Selection
n
Inspectt whether thee R, S, T, P,

P B1 and B are correcttly Confirm the
t on-site poower circuit; measure
m it by
conneccted with the U,
U V, W and PE
E. multimete
er if it is necesssary.
Inspectt whether the feedback signal cable of the moto

or
Refer to the
t Section 3.33.1 in this Use
er Manual
encodeer is correctly connected.
c
Inspecct whether the screw of the main

m circuit te
erminal is fixed
d. Check wh
hether it is looosen by screwdriver.
Secondly, switch on
o the power after the co
onnection is
s normal. The power-on time sequence is as
follows:
ON
Cont rol board po
ower
OFF
ON
Main circuit pow er
OFF
o unit alarm
Servo With
signal
Whith
hout
Servoo unit interna
al ON
readyy signal
OFF
Instru
uction controol unit ON
outpuut enabling ssignal
OFF
When th
he user operates the se
ervo drive un
nit at the firstt time, call oout the monitoring
window of the moto
or’s current a
after the pow
wer is turned
d on firstly. T
The dimension of
the motor’s current from the rea
al-time monitoring is performed afteer the motor is
Notice
e
d; if it exceed
enabled ds the rated current of the motor, it will be immeediately disa
abled.
Check the
t paramete
er setting bo
oth the wiring and servo
o drive unit; ootherwise, the
motor may
m be dama
aged.
56
5.2 Manual Operation
After the servo drive unit is power on, normally, it will display . If the servo drive
unit fault occurs, the alarm code may display. Refer to the Chapter Eight Abnormality
and Troubleshooting to solve it after an alarm code occurs.
Necessary Parameter Initialization

Working method
PA4 selection 9～25 21 P，S
Internal enabling
PA118 0～1 0 P，S
The operation steps of the Manual operation (PA4=9) are shown below:
1. displays after the servo drive unit is power ON, which is

the motor operation speed monitoring window.
2. Check whether the PA1 is the correspondence with the motor (Refer
to the Appendix A); it may skip this step if PA1 is correct; otherwise, call
out the default parameter (Refer to the Section 4.4 for details)
corresponding to the servo motor in the servo drive unit.
3. Set PA4=9, select the Manual operation method
4. Set PA118＝1, Internal enabling (Confirm that the motor axis rotation
is without hazard before enabling.)
(If you want to cancel the internal enabling, set PA118＝0)
5. Enter the Manual operation menu according to the left figure
(Regardless of the previous parameter settings).
6. Hold , motor accelerates; release it, the velocity invariable.
Hold , motor decelerates till to zero, and then accelerates

reversely.
The motor may immediately stop by and simultaneously.
During Manual operation, displays on the monitoring window, then

shows by OK button, which means the servo drive unit is without enabling signal, set the PA118
as 1; if the appears on the monitoring window, then displays by OK

button, which means the working method setting of the servo drive unit is incorrect, then set the
PA4 as 9.
57
GR-L
L Series Bus AC
er Manual
If the abno
ormal case, such
s as vibrration or nois
sy generates on motor iin the Manual
operation mode;
m it is necessary to
o debug the velocity
v loop
p parameterrs PA15, PA
A16 and
PA18 etc. Refer to the Section 6.1
1 for the deb
bugging method.
5.3 JO
OG Ope
eration
Affter the servvo drive unit is power on
n, normally, it will displa
ay . If the servo drive
unit fa
ault occurs, the alarm
m code may display. Refer to the Chaptter Eight
oting) to solvve it after an
(Abnorrmality and Troubleshoo n alarm code
e occurs.
ssary
Neces Parameter
P Initializaation
Meaning U
Unit Appllication
param
meter range valuee
Working method
W
PA
A4 9～25 21 P,
P S
selection
PA1
124 JOG
G operation speed r//min 0～12000
0 300 S
PA1
118 In
nternal enab
bling 0～1 0 P,
P S
Similarr as the Man

nual operatio
on, the JOG
G is also perfformed by th
he operationnal panel.
The ste
eps of the JOG operatio
on (AP4=10)) are as follo
ows:
1. The
e appears as soon as the servo ddrive unit is
s turned
on, wh
hich is the m
motor operation velocity monitoring w
window.
2. Che
eck whetherr the PA1 is the correspondence witth the motorr (Refer
to the Appendix A
A); it may skip this step iff PA1 is corrrect; otherwise, call
he default parameter (Refer to the Sectionn 4.4 for details)
out th
corres
sponding to tthe servo motor
m in the servo
s drive uunit.
3. Set PA4=10, se
elect the JOG operation
n method
Set PA124＝50
00, set the JO
OG velocity is 500 r/minn.
4. Set PA118＝1, Internal ena
abling (Conffirm that the motor axis rotation
hout hazard before enab
is with bling.)
(S
Set PA118＝
＝0, the internal enabling
g cancels)
5. En
nter the JO
OG operation menu according to the leftt figure
(Rega
ardless of the
e previous parameter
p se
ettings).
6. Hold , mottor operates
s based upo
on the veloccity 500r/min
n set by
PA1
124.
Ho
old the , the moto
or operates reversely based on the set
velocitty by PA124
4.
Mo
otor stops affter releasing
g the button till to hold aat the zero velocity.
v
58
Cha pter Five Operation
During JO
OG operation, displays on the monitoring winndow, then
ows by OK button,
sho b which
h means the
e servo drive hout enablingg signal, set the PA118
e unit is with 8
as 1; if the ap
ppears on th
he monitorin
ng window, then displayys by OK
K
buttton, which means
m the working
w meth
hod setting of
o the servo drive unit iss incorrect, then set the
e
PA4
4 as 10.
If the abnormal
a ca
ase, such a
as vibration
n or noisy generates
g oon motor in
n the JOG
operatio
on mode; it is
i necessaryy to debug the
t velocity loop parameeters PA15, PA16 and
PA18 ettc. Refer to the Section 6.1 for the debugging
d method.
m
5.4 G
GSK-Link Bus Co
ontrol Op
peration
GR
R-L series se
ervo drive unit
u is conne
ected the CN4
C and CN
N5 interfacees with the GSKLink off
8T□ (□: A, B, Ds and D)
GSK988 D series, w
which carries
s out the hig
gh-speed reeal-time com
mmunication
n
with the CNC system
m. The CNC
C system the
en can be re
ealized by GSK-Link buss as follows:
z Param
meter admin
nistration
he GSK988 T□/GSK980TDi series interface, perform the “System＞GS

In th SKLink＞Se
ervo＞Servo
o
parametter＞Optiona
al any axis”” in turn; A nd then the
e operations
s such as pparameter modification,
m ,
parametter saving, parameter
p ba
ackup, para
ameter backu
up recovery and parameeter search, etc. can be
e
performe
ed.
In the above-m
mentioned in
nterface, entter the “Systtem＞GSKL
Link＞Servo ＞Servo con
nfiguration -
some one axis” to recover the
e motor’s de
efault param
meter opera
ation after thhe value of the PA1 iss
59
GR-L
L Series Bus AC
er Manual
altered.
z State mo
onitoring an
nd servo rig
gidity adjus
stment
In the G
GSK988 TA
A series interrface, perforrm the “Syste
em＞GSKLink＞Servo＞
＞Servo adju
ustment -
some one a
axis” in turn; And then th
he states succh as the real-time monitoring comm
mand velocity, motor
velocity, en
ncoder value
e( ), servo current, serrvo temperature, servo DC bus voltage etc.
can be perfformed. Sim
multaneously o the 1st servo position loop, the 1st
y, each gain parameter of s
velocity
loop can be
e debugged to realize th
he optimum operation sttate for the motor.
m
z I/O inform
mation exchange and state monitoring
In the GSK988TA
A interface, perform the
e “System＞＞Servo＞Serrvo I/O” in turn; the
＞GSKLink＞
60
Cha pter Five Operation
state of the real-time

e monitoring
g hardware IO and bus IO can be performed acccordingly.
z Real-ttime contro
ol
TA system, the motion control of th

he GSK988T
In th he feed axis is regarded as position control; the
e
motion ccontrol of th
he spindle (it
( is also ca
alled the rottation axis) is retreatedd as speed control; the
e
motion ccontrol of the
e Cs axis is that the spi ndle speed control shiftts to the possition control, that is, Css
axis can
n be perform
med an interpolation con
ntrol to any feed
f axis. The
T motion ccommands of
o each axiss
are transsmitted with
h high speed
d by GSKLin
nk bus.
The
e CNC syste
em and the
e I/O informa
ation of the
e servo drive
e unit are eexchanged by
b bus, too;;
therefore
e, simplify the trouble of
o the comp licate contro
ol cable con
nnection. Usser does nott care aboutt
these prroblems when they are
e operate the
e CNC systtem, and the
erefore eachh function command
c off
CNC ma
achine doess not change
e.
61
GR-L
L Series Bus AC
er Manual
GR se
ervo drive un
nit should be
e correctly sset the follow
wing parameters, whichh only can be
b set up
the Etherne
et communiccation with 988T
9 □, as foollows:
Relevant Defaault
Name Unit Para. ran
nge Application
para. vallue
Controll method selec
ction 9～25
5 21 P,
P S
PA4
PA4=21
1: GSKLink co
ommunication function
Servo drive
d unit slave
e machine
PA156 1～20
0 1 P,
P S
numberr
62
Usually, more than one servo drive unit is set up the bus communication with the CNC
system, set the corresponding servo salve machine number to CNC system; confirm that CNC is
uniquely controlled to some one servo drive unit; and consequently, the servo drive unit
connected with the same CNC system can not set the repeated servo slave number.
63
GR-L
er Manual
64
Chapter Six Function Debugging
CHAPTER SIX FUNCTION DEBUGGING
6.1 Basis Performance Parameter Debugging Explanation
The following figure is the servo drive unit performance parameter debugging. User
should appropriately debug the partial parameter based upon the following figure
according to the different motor or loading to achieve the optimum working state of
the motor.
Over-debugging may cause the servo motor unstable operation.
Fig. 6-1 Basis performance parameter debugging
z Generally, the above-mentioned parameter should be firstly adjusted the velocity

loop, then the position loop. (The current loop parameter is already optimized before
deliverying, so that the user needs not to adjust it again.)
z The parameter range of between the AC permanent synchronous motor and AC
asychronous spindle motor is different, but the debugging method is similar.
6.1.1 Debugging Method of Adapted Permanent Synchronous Motor

Firstly, confirm that the value of the PA1 is consistent with the type code of the adapted motor
while the user debugs the machine; otherwise, the default parameter should be called out based
upon the corresponding motor type code in the Appendix A.
The characters and debugging methods of the parameter will be described as follows:
¾ PA15 (PA45 shares the same debugging method with the PA48) velocity loop proportional
gain, the recommended debugging range is 50～600;
65
GR-L
L Series Bus AC
er Manual
In
ncrease the setting value
Ad
dvantage: Accelerate the oversh oot, overrun and adjustment. Thee more the
e motor’s
ovverrun decre
eases, the more
m the rigid
d strengthen
ns.
Sh
hortage: It is easy to
o cause the
e vibration of
o motor its
self and thee resonance of the
mechanical equipment, as
a well the no
oisy from the machine vibration.
v
ecrease the
De e setting va
alue
Ad
dvantage: Decrease
D th
he impacting
g of the mechanical equipment whe n the loadin
ng inertial
is larger.
hortage: Th
Sh he overrun velocity
v is i ncreased when
w the res
solution of tthe PA15 is smaller,
wh
hich is easyy to cause th
he shimmy o
of the mecha
anical equipment, and ggenerate the
e low and
de
eep noise, and
a it is also slow the exxcitation of th
he loading and
a adjustmeent.
Ad
djustment skill
s
In the default parameter, it can be a
altered 50 ea
ach time to confirm the approximatte range,
nd then sligh
an htly debug itt.
¾ PA
A16 (PA46 shares the
e same deb
bugging metthod with th
he PA49) ve
velocity loop
p integral
co
oefficient, the recommen
nded debug ging range is
i 1～3000.

In
Ad
dvantage: Quicken
Q the velocity com
mmand resp
ponse, stren
ngthen the m
motor rigidity
y;
Sh
hortage: Th
he setting va
alue is excesssive big, which causes
s the vibratioon of motor itself
i and
the mechaniccal equipmen
nt resonance
e, as well th
he noisy from
m the mechaanical vibratiion.
ecrease the
De e setting va
alue
Ad
dvantage: It
I is not eas
sy to cause the resonan
nce and wav
ve of the mootor and me
echanical
eq
quipment wh
hen the load
ding inertial iis bigger.
Sh
hortage: Slow respons
se for the ve
elocity command, it is easy to cauuse the wav
ve of the
ve
elocity when
n the loading changes, so that the
e smoothnes
ss on the m
machining workpiece
w
su
urface is affe
ected.
Ad
djustment skill
s
In the default parameter, it can be alltered 100 each
e time to confirm thee approximatte range,
nd then sligh
an htly debug itt.
¾ A18 velocityy feedback filtering coe

PA efficient; the nded debuggging range is 100～
e recommen
30
000.

In
Ad
dvantage: Quicken
Q the
e response o
of the velocity command
d; reduce thhe velocity overshoot
o
off the motor;
Sh
hortage: Th
he setting va
alue is exce
essive big, which
w causes
s the motor and the me
echanical
eq
quipment ressonance, as
s well the no
oisy from the
e mechanica
al vibration.
De
ecrease the
e setting va
alue
Ad
dvantage: It
I is not eas
nce and wav
echanical
66
equipment when the loading inertial is bigger.

Shortage: The setting value is ultra-small, the wave velocity is then enlarged, and even
vibration issues.
Adjustment skill
In the default parameter, it can be altered 100 each time to confirm the approximate range,
and then slightly debug it.
¾ PA19 position loop proportional gain (it is same to the PA23 debugging method), the
recommended debugging range is 20～100.
Increase the setting value

Advantage: Strengthen the position loop rigidity, reduce the position following-error, and
then decrease the position overshoot position.
Shortage: The setting value is ultra-big; it is easy to cause the resonance of the motor and
mechanical equipment.
Decrease the setting value
Advantage: It is not easy to cause the vibration when starts or stops, as well less impacting
to the mechanical equipment.
Shortage: The setting value is ultra-small; it is easy to cause the machine crawl, overcutting
etc.
Adjustment skill
Increase 10 (or decrease 10) to roughly debug based upon the motor’s default parameter,
and then slightly debug till to the motor operates stably.
Summary: The proportional gain and integral coefficient of the velocity loop can be adjusted with
the same proportion based upon the concrete servo motor and loading. Generally, the bigger the
loading inertial is, the less the setting value is. The two parameters should be set bigger as much as
possible on the condition that there is no vibration on the system.
6.1.2 Debugging Method of Adapted AC Asynchronous Spindle Motor

Notice: When the GR-L series product matches with the AC asynchronous spindle motor, the
parameter range of the Section 6.1.1 is not suitable any more.
Firstly, confirm the value of the PA1 is consistent with the type code of the adapted motor while
the user debugs the machine; otherwise, the default parameter should be called out based upon the
corresponding motor type code in the Appendix A.
The characters and debugging methods of the parameter will be described as follows:
¾ PA15 (PA45 shares a same debugging method with the PA48) velocity loop proportional
gain; the recommended debugging range is 500～2000.
67
GR-L
L Series Bus AC
er Manual
In
Ad
dvantage: Accelerate the oversh oot, overrun and adjustment. Thee more the
e motor’s
ovverrun decre
eases, the more
m the rigid
d strengthen
ns.
Sh
hortage: It is easy to cause
c the vvibration of motor
m itself and the meechanical eq
quipment
re
esonance, ass well the no
oisy from the
e mechanica
al vibration.
De
ecrease the
e setting va
alue
Ad
dvantage: When the loading inerrtial is bigger which is reduced thhe impactin
ng to the
mechanical equipment.
hortage: Th
Sh he overrun velocity
v is i ncreased when
w the res
solution of tthe PA15 is smaller,
wh
hich is easyy to cause th
he shimmy o
of the mecha
anical equipment, and ggenerate the
e low and
de
eep noise, and
a it is also slow the exxcitation of th
he loading and
a adjustmeent.
Ad
djustment skill
s
In the default parameter, it can be alltered 100 each
e time to confirm thee approximatte range,
nd then sligh
an htly debug itt.
¾ PA
A16 (PA46 shares the
e same deb
bugging metthod with th
he PA49) ve
velocity loop
p integral
co
oefficient, the recommen
nded debug ging range is
i 1～1000.

In
Ad
dvantage: Quicken
Q the velocity com
mmand resp
ponse, stren
ngthen the m
motor rigidity
y;
Sh
hortage: Th
he setting va
alue is excesssive big, which causes
s the vibratioon of motor itself
i and
the mechaniccal equipmen
nt resonance
e, as well th
he noisy from
m the mechaanical vibratiion.
ecrease the
De e setting va
alue
Ad
dvantage: It
I is not eas
nce and wav
echanical
eq
quipment wh
hen the load
Sh
hortage: It is slow resp
ponse to the velocity com
mmand, and
d it is easy tto cause the
e velocity
flu
uctuation wh
hen the loa
ading chang
ges; so the smoothnes
ss of the m
machining workpiece
w
su
urface is then affected.
Ad
djustment skill
s
In the default parameter, it can be alttered 20 eac
ch time to co
onfirm the addequate ran
nge.
¾ A18 velocityy feedback filtering coe
PA efficient; the
e recommen
nded debuggging range is 100～
10
000.

In
Ad
dvantage: Quicken
Q the response o
of the velocitty command; reduce thee velocity overshot of
the motor;
hortage: Th
Sh he setting va
alue is exce
essive big, which
w causes
s the motor and the me
echanical
eq
quipment ressonance, as
s well the no
oisy from the
e mechanica
al vibration.
De
ecrease the
e setting va
alue
Ad
dvantage: It
I is not eas
nce and wav
echanical
eq
quipment wh
hen the load
68
Shortage: The setting value is ultra-small, the wave velocity is then enlarged, and even
vibration issues.
Adjustment skill
In the default parameter, it can be altered 50 each time to confirm the approximate range,
and then slightly debug it.
¾ PA19 position loop proportional gain (It is same to the PA23 debugging method); the
recommended debugging rage is 20～100.
Increase the setting value

Advantage: Strengthen the position loop rigidity, reduce the position following-error, and
decrease the position overshoot;
Shortage: The setting value is excessive big, which causes the motor and the mechanical
equipment resonance.
Decrease the setting value
Advantage: It is not easy to cause the vibration when starts or stops with the large loading
inertial, as well less impacting to the mechanical equipment;
Shortage: It is easy to cause crawl and overcutting etc. for the machine tool when the
setting value is ultra-small.
Adjustment skill
Increase 10 (or decrease 10) to roughly debug based upon the motor’s default parameter,
and then slightly debug till to the motor operates stably.
Summary: The proportional gain and integral coefficient of the velocity loop can be adjusted with
the same proportion based upon the concrete servo motor and loading. Generally, the bigger the
loading inertial is, the less the setting value is. The two parameters should be set bigger as much as
possible on the condition that there is no vibration on the system.
6.1.3 Three-Gain Selection of Closed-Loop Control

Spindle servo drive unit allows debugging 3-kind different velocity loop, position loop rigidity in
the different function applications, refer to the following table:
The 1st proportional gain (PA15) of
velocity loop and the 1st integral time It is applied to the most
Moderate velocity
General application coefficient (PA16) are enabled. general-purpose velocity
loop rigidity
The 1st proportional gain (PA19) of and position control.
position loop is enabled.
The 2nd proportional gain (PA45) of
velocity loop and the 2nd integral time
CNC system CNC controls spindle to Stronger velocity
coefficient (PA46) are enabled.
executes M29 perform the rigid tapping. loop rigidity
The 1st proportional gain (PA19) of
position loop is enabled.
69
GR-L
L Series Bus AC
er Manual
CNC system he 3rd propo

Th ortional gain (PA48) of
Instruction control uniit
executes M51, ve
elocity loop and
a the 3rd iintegral time
controls the
e spindle servoo Weaker velocity
before the co
oefficient (PA449) are enable
ed.
rd motor to perform thee loop rigiditty
completion of the Th
he 3 propo ortional gain (PA23) of
orientation function
f
motor orientation osition loop is enabled.
po
CNC system he 3rd propo
Instruction control uniit
executes M14, ve
elocity loop and
a the 3rd iintegral time
controls the
e spindle servoo Moderate velocity
before the co
oefficient (PA449) are enable
ed.
motor to perform thee loop rigiditty
completion of the he 3rd propo
velocity/pos
sition shifting
motor orientation osition loop is enabled.
po
z Th
he orientation applicattion of the v
velocity/position shiftiing
The sp
pindle shou y orientated when the Cs axis is performed the velocity
uld be firstly y/position
shifting; in tthis case, th
he rigidity bo
oth the moto
or’s and gene
eral-purpose
e velocity coontrol are co
onsistent.
The spindle
e after orienttation is eas
sily caused th
he swing wh
hen the spindle inertial iss bigger or itts driving
machinery is with bigger interval. In this mom ent, it is nec
cessary to descend
d thee rigidity of th
he motor
and, especcially, the inttegral adjusttment of the
e velocity loo
op so that th
he motor caan be fast an
nd stably
clamped att the reference position.
Perform
m the M14 when
w the ap
pplication vellocity/positio
on is shifted, then start tthe parameter PA48,
PA49 and P
PA23; the weaker
w servo
o motor rigid
dity then can
n be set.
z Th
he applicatiion of the rigid tapping
g
In the machine tool machining, the rigid tapping belongs to the thread macchining under at the
position clo
osed-loop; it should has the high rig idity with the or, and with the fast res
e servo moto sponse to
and, as well reduce the
the comma e following-e
error as mu
uch as poss
sible. And thherefore, th
he higher
proportiona
al gain of the servo drive unit ve
elocity loop should be set when the rigid ta
apping is
performed. Generally, the elocity shou ld be less th
t motor ve han the 2000
0r/min in rigiid tapping be
ecause it
is easy cau
use vibration when the high rigidityy motor is performed
p high speed. The commo
on motor
operation vvelocity shou
uld be highe
er instead off the rigidity of the servo
o motor for tthe general--purpose
machining of the spindle. And therefore, the
e general-pu
urpose spind
dle machini ng needs the lower
velocity loo
op gain comp
pared with the rigid tapp
ping.
The M29 is perforrmed when the

t system sstarts the rig
gid tapping, then uses tthe PA45 an
nd PA46;
the higher sservo motorr rigidity then
n can be sett.
z Th
he applicatiion of the orientation
o ffunction
Similarr as the velocity/positio

on shifting, tthe rigidity of
o the motorr and the onne controlle
ed by the
general-purrpose veloccity are cons
sistent when erforms the orientation function.
n the spindle motor pe
he spindle is bigger or the spindle
When the inertial of th e driving device is withh bigger inte
erval, the
spindle afte
er orientating
g is easily sw
wung. In thiss case, it is necessary
n o reduce thee rigidity of the motor;
to
especially, for the integ
gral adjustm
ment of the vvelocity loop
p to guarantee the motoor clamps att the one
position rap
pidly and sta
ably.
70
The M51 is performed when the orientation function is applied, then uses the PA48, PA49 and
PA23; the weaker servo motor rigidity then can be set.
6.2 Position Electric Gear Ratio

As for the mechanical variable gear, the “Electric gear function”, is set the motor movement
value equivalent to the input command as any value by adjusting the servo parameter during the
control, regardless of the deceleration ratio of the machinery and resolution of the encoder.
Relevant Initialization
Description Unit Para. range Application
para. value
Position pulse command
PA29 1～32767 1 P
multiple coefficient
Position pulse command
PA30 frequency-division 1～32767 1 P
coefficient
The calculation of the position electric gear ratio is as follows:
That is,
1
G: ≤ G ≤ 50
Electric gear ratio, it is recommended as 50
C: Motor encoder resolution; (Note: Incremental encoder numerator is 4C, the absolute
one is C)
L: : Leading screw guide (mm);
ZM: The gear number at the end of the leading screw (It is suitable for the decelerator);
ZD: The gear number at the end of the motor;
δ: The least output command unit of the system (mm/pulse);
I: Command shifting (mm);
S: Actual shifting (mm)
CR: Instruction control unit command multiple coefficient;
CD: Instruction control unit command frequency-division coefficient.
[For example]: The system is GSK988T□ for the machine tool. The motor is directly connected
with the X axis leading screw; its guiding is 6mm; the encoder of the motor is 17-bit
absolute type; calculate the electric gear ratio of the servo drive unit regardless of the
71
GR-L
L Series Bus AC
er Manual
command
d multiple fre
equency and
d frequency
y-division coefficient.
Solutio
on: Motor directly
d con
nnects with the X axis,, then ZM : ZD＝1; G enerally, S = I, the
command shifting equals
e to the
e actual one
e; as well th
he least outpput comman
nd unit in
0.0001
the diam amming δ＝
meter progra ＝ mm
m/pulse an
nd when G
GSK988T□ system
s is
2
selected
d the 0.1μ machining
m an be substituted into thhe following format:
acccuracy, it ca
0.00001
δ＝ mm/pullse，substittute the form
mula:
2
PPA29 C ZM δ CDD C 217 2048
G＝＝ S＝ δ＝ ×0..00005＝
PA30 L ZD I CRR L 6 1875
Then, the
e parameterr PA29 is sett to 2048, PA30 is set to
o 1875.
6.3 Shift of Mo
otor Rota
ation Dire
ection
Sttandard settting
1. When the overall
o param
meters of the
e servo driv
ve unit are se
et as Initializzation values;
2. The phase
e relationships between
n the motor encoder in
nput signal A and B arre shown
below:
Phase A
Phase B
In that case, the re
elationships between th
he command
d and motor rotation direection are co
onsistent
with the “Sttandard settting” for the speed meth
hod or positio
on method.
Re
everse mod
de
Servo drive unit ca
an be shown
n the reverse
e rotation “R de” of the rottation direction of the
Reverse Mod
servo moto
or on the con
ndition that the
t servo mo
otor wiring does
d not alte
er.
1. Position method
m
Relevantt Parameterr Initializaation
Descriptio
on Unit Application
para. range valuee
Position command d direction
reverse 0～1 0 P
PA28 PA28＝0: Maintain the origin coommand dirrection;
PA28＝1: Inputted the pulse co ommand rev
verse.
72
Command Standard setting (PA28=0) Reverse mode (PA28=1)
CCW
command
LED displays that the motor speed is positive LED displays that the motor speed is negative.
(PA34=0). (PA34=0).
Explanation: The output of the PAO and PBP are related with the PA34, and consequently,
set the PA34=0, the above-mentioned relationship is indicated the function of the PA28
parameter.
2. Velocity method
Relevant Parameter Initialization
para. range value
The motor rotation
direction is reversed when
0～1 0 S
velocity command is
enabled.
PA51
PA51 ＝ 0, velocity command is positive, motor CCW; velocity command is
negative, motor CW.
PA51＝1, velocity command is positive, motor CW; velocity command is negative,
motor CCW.
Command Standard setting (PA51=0) Reverse mode (PA51=1)
CCW
command LED displays that the motor speed is negative
(PA34=0).
LED displays that the motor speed is positive

(PA34=0).
CW
command
LED displays that the motor speed is positive

(PA34=0).
73
GR-L
L Series Bus AC
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LED dissplays that the motor speed is negative

(PA34=0 0).
6.4 Servo Torq

que Limitt
Set the
e overloadin
ng multiple of
o the servo
o drive unit based
b upon the rated ccurrent of th
he motor,
and its settting range iss 0～300%, which mean
ns up to 3 times overloading. If thee setting is less than
100%, the o
output torqu
ue of the serrvo drive uni t can be limited.
Relev
vant Parameter Initializaation
Descripttion Unit Application
parra. range valuee
Internal CCW to
orque limit 0～300
% 300 P,S
PA133 Set the

t internal to
orque limit valu
ue of the servvo motor alon
ng with the CC
CW direction, and the
intern
nal torque limit is enabled in
n the velocity and
a position method.
m
nternal CW torque limit

In -300～0
% -300 P,S
PA134 Set the

t internal to
orque limit vallue of the servo motor alo
ong with the C
CW direction, and the
intern
nal torque limit is enabled in
n the velocity and
a position method.
m
Manual, JOG operration torque

limit % 0～300 300 S
The torque output from motor is restricted by its param

meter percenta
tage when the simple
PA125 opera
ations such as
a the manua al and JOG are
a performed d. Set lower percentage torque
t to
guara
antee the safe
ety of the equip
pments.
6.5 Bra
ake Rele
ease Sign
nal Appliication
In order to locck the vertica

al or inclined
d worktable connected with
w the mottor’s shaft to
o prevent
orktable from
the wo m dropping when the s ervo alarms
s or power absents.
a Geenerally, we
e use the
servo motor with power-down
n brake; acttually, it is brake
b motor. This servoo drive unit provides
brake rreleasing sig
gnal (HOLD) for effectivvely controlling the move
ement of thee hold motorr.
T used in the
The power--down brake is only u orktable insttead of using the
e Hold Wo
D
Deceleration
n and Enforc
cement mac hine movem
ment stop.
① First of all, correctly co

onnect the w
wiring based upon the Fig
g. 6-2; it is vvery essentia
al to note
that the req
quired input signal in the
e following ta
able must be
e connected
d.
74
Pin No. Signal input Function

HOLD1 Brake releasing signal. (It is
CN1
HOLD2 enabled when PA2=0)
The brake releasing signal, in the Fig. 6-2, controls the actual wiring principle of the brake motor.
The 24V in the following figure is offered by user. The brake releasing signal (HOLD) is relay NO
contact output. Its wiring is shown below:
Fig. 6-2 The typical example of the HOLD± brake releasing signal
The motors with different power are matched with different power-down brake; refer to the
following brake’s technology parameter with different motors when user selects the 24V power.
Rated Releasing
Motor flange size Power voltage 20℃ brake power
torque time (s)
80 3.2 N·m DC(0.9～1.1)24V 15W 0.037
110 4 N·m DC(0.9～1.1)24V 20W 0.037
130 12 N·m DC(0.9～1.1)24V 30W 0.042
175 (motor rated torque
23 N·m DC(0.9～1.1)24V 40W 0.135
12～22 N·m)
175 (motor rated torque
46 N·m DC(0.9～1.1)24V 50W 0.135
30～38 N·m)
② Switch on the power after confirming the correct connection, then set the necessary
parameter. Consider the time sequence relationship of the HOLD signal when the machinery or
worktable slightly moves under the gravity. The time adjustment can be performed with the
related parameter of the brake movement, as follows:

Allow the motor’s Max.
PA147 deceleration time before the ms 0～30000 30 P, S
power-down operation
PA148 Servo lock delay time ms 0～30000 100 P, S
The motor speed in the
PA149 power-down operation r/min 5～300 30 P, S
Case 1: The power of the servo drive unit is suddenly turned off in the static state of the
motor.
75
GR-L
L Series Bus AC
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SON OFF F,
Alarm occur, ON OFF
Power offf
HOLD release
outpu
ut ON OFF
Servo OF
FF， PA148
Motor po
ower-
Motor
Serrvo lock pow
wer -down
down
ervo lock
Se
de
elay time
Genera
ally, if HOL
LD is cut offf, simultane
eously, the servo drive
e unit is tu rned off. When
W the
machinery or worktable slightly moves under the gravity;; adjust the PA148 to ddelay the servo drive
unit OFF an
nd then avoid the slight movement.
The energy may release in a shortt time by th

T he dynamic-consumptionn brake due
e to the
sservo drive unit
u is turned off; and th e actual serrvo locked ddelay time does not
herefore, the
e
exceed the energy
e relea
asing time e
even when the PA148 is set to biggger value; and the
e
energy relea s related wiith the loading inertia or
asing time is o the decelleration time
e of the
m
motor.
Case 2: The power of the

e servo drive
e unit is suddenly turned
d off in the ooperation sta
ate of the
motor.
SON OFF ;
Alarm
m occur; ON OFF
F
Poweer off.
Actua l motor
operration
sp eed
PAA149
Settin g speed
H OLD ON OFF
relea
ase OFF
PA1
147
PA1
148
Servo
o lock Motor power-dow
wn
76
The servo drive unit can not be suddenly braked during moving with high velocity;
otherwise, it may damage the brake; it is necessary to cut off the HOLD brake releasing
signal at the appropriate time. The motor can be firstly decelerated and then braked by
adjusting the PA147 and PA149. It is recommended that the PA149 is set to 30r/min.
The setting value of the PA147 should be performed based upon the actual mechanical
operation.
6.6 Motor Brake Method

z Brake
Generally, the brake is a stop method for the servo drive unit. The energy generated during the
motor stop is run out by the brake resistance; on the other hand, the servo drive unit adds the reverse
torque for the motor, so that the motor is rapidly stopped in a very short time. The brake time is
determined by PA58.

Description Unit
★PA57 Straight-line acceleration time constant 0~10000 50 S
★PA58 Straight-line deceleration time constant 0~10000 100 S
The acceleration/deceleration time constant is only enabled in the velocity method.

PA57 sets the desired time that the motor accelerates to rated velocity from the zero speed; refer to the t1 in the
following figure.
PA58 sets the desired time that the motor decelerates to rated velocity from the zero speed; refer to the t2 in the
following figure.
The actual acceleration time of the motor = Command velocity/Rated speed×PA57;

The actual deceleration time of the motor = Command velocity/Rated speed×PA58;
Note: When the PA57 and PA58 are set as ultra-small, the actual acceleration/deceleration time is
restricted by the servo drive unit top acceleration/deceleration capability. Failure to restriction
may generate during the brake; on the contrary, the overall deceleration time may exceed the
setting one.
77
GR-L
L Series Bus AC
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6.7 Sp
pindle Cla
amping Interlock
I king Sign
nal
At pressent, partial turning machines are e
equipped wiith the mech
hanical clam
mping device
es on the
spindle for carrying outt the drilling, tapping, ettc. at the ex e workpiece.. The spindle can be
xcircle of the
locked by m
machinery to
o ensure tha
at of the acccuracy and stability of the
t machininng. In orderr to solve
the conflictss between th
he clamping
g force of the al clamping equipment aand the torque of the
e mechanica
spindle mottor; when th
he CNC system control m
machinery clamping
c clamps the spinndle, simulta
aneously,
control the servo drive to reduce th
he torque of the motor. As
A for the GS
S series spinndle servo drive
d unit,
the function
n for decrea
asing the mo
otor torque can be carrried out by controlling
c t he spindle clamping
c
interlocking
g signal (BREF).
Explan
nation: The
e spindle cla
amping inte rlocking signal (BREF) is specifiedd by commu
unication
agreement.
Relev
vant Parameter
P Initializatio
on
Descriptio
on Unit cation
Applic
parra. range value
Spinddle clamping ms 0～32000 100 S, P

interlocking delay time
t
PA150
After the spindle th
hat is clamped
d by the mechhanical clamping equipmentt is set at the side of
the spindle, and then reduce thee delay time off the motor’s to
orque.
Genera
ally, PA150 is set to 10
00. This dela
ay time is mainly
m confirrmed that thhe spindle is
s already
clamped ab
bsolutely by mechanical equipmentt, the motor’s n be reducedd accordingly; in this
s torque can
case, the spindle’s possition will nott offset durin
ng clamping.
The tim
me-sequenccy of the CNC
C controllab
ble spindle clamping
c is shown
s below
w:
Clampin
ng spindle sig
gnal
OFF
F ON
(CNC→
→Mechanica al
clampi ng equipmennt)
Spindle being clamp

ped Releassing Clamping
Spindle clamping inte

erlocking
signal
(CNC→→Spindle serv vo unit) OFF
F t ON
150+CNC delay time

T=PA1
N
Spindle
e motor torque
e
0
When the workpie

ece is alread d and spindle clamping equipment releases, th
dy machined he BREF
signal is se he spindle enters to the position me
et to OFF. Th ethod again and
a the spinndle position
n is still at
ng position. The spindle
the clampin e position w
will slightly offfset if the clamping
c equuipment is released;
r
and the spindle position is then dra
awn back to
o its clamping
g position affter the BRE
EF turns into
o OFF.
78
6.8 Spindle Orientation Function

Orientation function: In order to the change and measure the tool, rapidly and accurately
position to reserve at the prestop position (the stop position of either the motor’s shaft or the spindle)
based upon the feedback signals of the motor encoder and the 2nd position encoder, which is called
the orientation function.
Orientation accuracy: The orientation accuracy can be expressed by the Max. orientation angle
θ when the orientation axis is executed; refer to the following formula.
Formula 1――
θ＝
Then, the orientation accuracy is ±θ.
C: The resolution of the position feedback encoder;

4C: The orientation encoder pulse after the 4-frequency.
And therefore, when select the 1024 resolution incremental encoder, the orientation
accuracy is ±0.088°.
In the actual orientation, the orientation error is ±2θ due to the mechanical driving error.
In the orientation application, the orientation accuracy, also, can be expressed by the workpiece
arc length or the string length of the arc. For example, turning machine, the orientation drilling is
performed at the excircle of the round workpiece; milling machine, the machining center is performed
the tool-setting with the spindle. In this case, the orientation accuracy is related with not only the
motor (or spindle), but also the diameter of the orientation circle; refer to the following formulae:
Formula 2――
Z D: The diameter of the orientation circle

δ1: The string length on the orientation circle is
regarded as the orientation accuracy.
Also, it can be calculated by the following formula.
Formula 3――
The string length on the orientation circle is

regarded as the orientation accuracy.
79
GR-L
L Series Bus AC
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Th
he orientatio
on accuracy
y of spindle servo drive unit can be
e exactly seet to the ±δ1 or ±δ2
based upo
on the formu
ulae 2 and 3.
3
For ex
xample:
The drilling is perfo
ormed at the
e excircle ro
ound workpie
ece with 200
0mm
diameter, tthe orientatio
on error of th
he drilling sh
hould be les
ss than 50μm
m,
calculate h
how many re
esolutions off the encode
er can be req
quired?
The arc length calcculation can
n be perform
med accordin
ng to our
selection; tthe drive unit should guarantee δ ≤25μm to suitable

for the requirement lesss than 50μm
m, which ca
an be calcula
ated by
the formulla 3:
Then: C ≥ 6280
And th
herefore, to guarantee
g the error of tthe drilling position
p is le
ess than or eequals to th
he 50μm,
the selected encoder re
esolution sh
hould be mo re than or equals to 628
80.
eries servo drive unit o

Also, tthe GR-L se unction can be divided into two op
orientation fu perations
based upon
n the different position feedback
f inp
puts:
1. The
e motor encoder (inpu
ut by CN2)) is regarde
ed as the orientation
o position fe
eedback
input; the operation schedu
ule for orien
ntation is as
s follows:
① Call the monitoring

m menu
m after th
he power is turned
t on, ddisplay the
by ; the symbol “E” meanss that the motor

m shaft is on the uundefined orrientation
position, and its value can not re
egarded as the
t orientatio
on position rreference va
alue.
② The moto
or shaft revolves one ccircle at leas
st; the servo
o drive unit displays the
e correct
position after
a it detec
cts the Z pu
ulse signal of
o the motorr encoder, thhen the valu
ue of the
becomes , which means the curre

ent encoder position is correct.
c
T
The motor ro
otates one circle,
c which can be revo
olved the sha
aft not only bby hand but also by
a specified low velocity command w

when the mo
otor is disabled.
③ Ensure th
he spindle servo
s drive u
unit enabling
g is cut off. The
T motor axxis or the co
onnected
spindle are
a slowly adjusted
a to the preset orientation point, then record the position
displayed
d by , write it to the PA10
03; as well, record
r the pposition disp
played by
, write it to
o the PA104
4, and then, save it, the
e two param
meter values
s are the
80
orientation position 1.
④ CNC system performs M51 (Orientation start). System delivers the enabling (SON) to
servo drive unit by GSKlink bus, and then the orientation starts (OSTA) the commands;
firstly, the motor rotates based upon the orientation velocity set by PA99 till find the
orientation point position, and then it immediately holds on the orientation position;
simultaneously, the servo drive unit sends the orientation completion signal (COIN) to
the CNC system.
⑤ The operation such as the tool-change can be carried out after the CNC system
accepts the COIN; the orientation start signal (OSTA) during the tool-change should
always ON. Other operations can be performed only when the signal should be
cancelled after the operation is performed.
1. To guarantee the position accuracy of the orientation operation, the motor encoder is
regarded as the feedback signal of the orientation position, it is only suitable for the 1:1
driving ratio occasion between the motor shaft and machine spindle;
2. When the machine is not performed the driving ration 1:1 between the motor shaft and
machine spindle, then the 2nd position encoder of the driving ration 1:1 should be
installed at the side of the machine spindle; so that the encoder feedback returns the
unique Z pulse signal after the spindle rotates one circle.
2. The 2nd position input signal (inputted from CN3) is regarded as the operation schedule
of the orientation position feedback input, which is similar with the above-mentioned
operations; the rest of steps are identical other than the front of three. The front 3 steps
are shown below:
① Call out the monitoring menu , then display the by , after the
power is turned on. The symbol “E” means that the spindle is at the undefined
orientation position, and its value can not be regarded as the reference value of the
orientation position.
② The servo drive unit may automatically search the correct position of the 2nd position
encoder when the spindle rotates one circle at least. becomes
after the correct position is searched, which means the current encoder position is
correct.
③ Ensure that the servo drive unit enabling is already cut off, the spindle is then slowly
adjusted to the orientation point, and then record the position displayed from ,
lastly write to the PA103 to save it; in this case, this parameter value is treated as the
orientation position 1.
④ The orientation can be completed by repeatedly performing the orientation operation

steps 4~5 with the motor encoder.
81
GR-L
L Series Bus AC
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If the spind
dle is alway
ys rotates in
nstead of ins
specting the
e Z pulse whhen it orienttates so
that the orrientation is unsuccesssful. That is,, the 2nd po
osition encodder SCA an
nd SCB
pulses possition are reversed. In t his case, alter the value of the PA
A101 to save
e it, and
then the orrientation ca
an be perform
med again after
a the pow
wer is turnedd on.
The tim
me sequenc
ce of the whole orienta
ation is as follows:
S
Spindle orien
ntation time--sequence A (The moto
or is on the movement
m sstate.)
Drive
e enabling （SON）
CCWW/CW （SSFR/SRV）
Rota
ation start
Orien
ntation start
（ OSTA）
signa
al Operation Operatiion
speed speedd
Orientation speed
eed（n）
Spe 0Speed
0
The ccompletion of
（ COIN）
orien
ntation t≥0.5s
S
Spindle orien
ntation time--sequence B (The moto
or is on the free or null vvelocity state
e.)
Drive
e enabling（ SSON）
Orientation
（ OSSTA）
startt signal
Orien
ntation speed
d
Spee
S
Speed（n ） 0
d
The coompletion
）
of orientation（ COOIN
t ≥0.5s
Relevant Initializatii
Description Unit Param
meter range Applicatio
on
para. on value
The 3rd prop

portional gain of the position
n loop 10
0~1000 40 P
PA23
The 3rd prop
portional gain of the velocityy loop z
Hz 10
0~3000 200/400 S
PA48
rd
The 3 inte
egral time con
nstant of the vvelocity
PA49 1~3000 100 S
loop
The 1st velocity-loop

p gain (PA15, PA16), the 1sst position-loop
p gain (PA19), the 3rd velocitty-loop gain (P
PA48, PA49) and
a
the 3rd po
osition-loop ga
ain (PA23) are separately ussed during the
e orientation.
82
Hence, the spindle swings during orientation, decrease the values of the PA48, PA49 PA23 according to the proportion
to remove the swing.
The type selection of the 2nd position

0~30 0 P/S
encoder
PA96＝0: TTL incremental encoder signal; PA96＝24: ENDAT2.2 agreement, 1400 linear
PA96＝3: TAMAGAWA agreement, 17Bits single-coil
magnetic grid encoder signal;
absolute encoder signal;
PA96＝25: ENDAT2.2 agreement, 2046 linear
PA96 ＝ 4: TAMAGAWA agreement, 1617 multi-coil
absolute encoder signal;
PA96＝8: 21Bits magnetic-resistance encoder signal; PA96＝26: ENDAT2.2 agreement, 2600 linear
PA96＝9: 22 Bits magnetic-resistance encoder signal; magnetic grid encoder signal;
PA96＝10: 23 Bits magnetic-resistance encoder signal; PA96＝27: ENDAT2.2 agreement, 3600 linear
PA96＝11: Null encoder in IGS, A384 gear; magnetic grid encoder signal;
PA96＝12: Null encoder in IGS, A512 gear PA96＝28: ENDAT2.2 agreement, 900 linear
※PA96 PA96＝13: BISS agreement，17 Bits single-coil absolute magnetic grid encoder signal;
encoder signal; PA96＝29: ENDAT2.2 agreement, 600 linear
PA96＝14: BISS agreement，1217 multi-coil absolute
encoder signal;
PA96＝15: BISS agreement，19 Bits single-coil absolute PA96＝30: ENDAT2.2 agreement, 256 linear
encoder signal; magnetic grid encoder signal;
PA96 ＝ 16: BISS agreement ， 1219 multi-coil absolute PA96＝37: 25Bit absolute single-core encoder.
encoder signal;；
PA96＝21: ENDAT2.2 agreement，512 resolution magnetic
grating encoder signal;
PA96＝22: ENDAT2.2 agreement，1024 resolution
magnetic grating encoder signal;
PA96 ＝ 23: ENDAT2.2 agreement ， 1200 resolution
magnetic grating encoder signal;
Position feedback input signal selection
0~2 0/1 P/S
PA97=1, the motor encoder signal is regarded as the position feedback input signal;
※PA97
PA97=0, the 2nd position input signal is treated as the position feedback input signal. In this case, the CN3
does not connect the 2nd position encoder feedback signal, the Er-24 fault on servo drive unit may occur.
The 2nd position encoder resolution
10~30000 1024 P/S
PA98
It is enabled when set the 2nd position encoder resolution and match with the incremental encoder.
83
GR-L
L Series Bus AC
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Relevant Param
meter Iniitializati
Description Unit Ap
pplication
para. rang
ge on
n value
O
Orientation velocity r/min 10~1000 100 S
When the spindle

s is orie
entated, firstlyy rotates base
ed upon the orientation
o veelocity, then th
he spindle
PA99
motor rotate
es and dwells
s at the orienta
ation position after the serv
vo drive unit iss captured the
e encoder
pulse Z.
The selectio
on of the orien
ntation directio
on 0~2 0 S
PA100＝0, the orientation velocity of tthe motor is along with CCW

W when it is rrotated to starrt in CCW;
Similarly, th
he orientation velocity
v of the
e motor is alon
ng with CW wh
hen it is rotateed to start in CW.
PA100 PA100＝1, the motors are
a orientated
d along with the
t CCW orie
entation veloccity no matterr how the
operation direction of the motor.
PA100＝2, the motors are orientated

d along with the CW orie
entation veloccity no matterr how the
operation direction of the motor.
The 2nd po
osition feedbac
ck input signa l
0~1 0 P/S
reverse
※PA101
PA101＝0: Maintain the original
o e relationships of the 2nd pos
phase sition input siggnal SCA, SCB
B pulses.
PA101＝1: The phase relationships be

etween SCA and SCB are re
eversed.
The positio
on window durring orientation
n Pulse 0~100 2 S
The se
ervo drive unit enters the possition loop con
ntrol; the moto
or shaft (or thee spindle) sea
arches and
dwells at th
he reference point based u
upon the orie
entation velocity after the vvelocity/positio
on shifting
starts. The motor may slightly tremble at the distant of the stop be
ecause the possition-loop is performed
p
closed-loop
p adjustment for
f the offset a
angle of the motor
m shaft. And
A therefore,, the orientatio
on can be
executed when
w the offset of the motorr tremble is wiithin the orientation window
w, and the PSIO shifting
completion signal is enab

bled.
PA102
If the setting
s value is smaller, PS
SIO shifting completion
c sig
gnal output m
may instable due
d to the
tremble of the motor, eve

en cause the fa
ailure of the orientation.
PA103 Lower fo
or the orientation position 0~99
999 0 S
Higher fo
or the orientattion position ×10000 0~30000 0 S
PA104 Set 4 orienttation position
ns, if the nume
erical of the orientation
o pos
sition does nott exceed the number
n of
the lower orientation po

osition, regard
dless of the higher orientation positionn. Wherein, the lower
84
orientation position based upon the orientation of the motor encoder signal is set by DP-APO, and the
higher orientation position is set by the DP-APO. The lower orientation position based upon the
orientation of the 2nd position encoder signal is set by DP-SPO, and the higher orientation position is
set by the DP-SPO.
Explanation: After the parameter with “※” in front of the parameter number is modified, it can be
enabled after saving when the power is turned on again.
6.9 Velocity/Position Shifting Function (CS Axis Function)

Cs axis function, is one certain axis of the CNC machine tool factory, can be controlled both the
operation velocity (it owns the wide regulation speed range) and the position (it performs the
interpolation operation with other feed axes). For example, the spindle of the turning machining
center owns the above-mentioned function.
Velocity/position shifting function: The servo drive unit is the velocity control method. The
servo equipment performs the orientation function after CNC system executes the M114. Servo
motor orientates to the reference point, and then the system is performed the position control to the
servo drive unit. The system performs M15, that is, the position method shifts to the velocity one.
The shifting process of the velocity/position is consistent with the orientation function, the same
as the debugging method and relative parameter. The only different that the reference point between
the orientation position of its function and the velocity/position shifting are set by different reference
points, as well as the signal of the start velocity/position shifting is different.
Basis debugging operation:
CNC system The system delivers SON, PST1 input command to the servo
performs the M14 drive unit by GSKlink bus of which this command can be
command
monitored in dl-in. (Refer to the Section 3.3.4 for details)
Step 1 It requires that the servo
drive unit shifts to the
position method from the
velocity one.
Key points:
1. PA88 exactly stops at the reference point (PA90+PA91) after it set to velocity/position shifting
by default. Set PA88=1, it immediately stops after shifting the velocity/position regardless of
the reference point.
2. dl-in is the I/O information in the communication, debugger can verify the PLC signal of CNC
based upon these information.
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Relevant Param
meter Iniitializati
Description Unit Ap
pplication
para. rang
ge onn value
Velocity possition shifting method
selection 0～
～1 0 P/S
0: Exactly stop
s at the reeference pointt position after shifting to th
he position meethod from th he velocity
PA88 method (PA A90+PA91);
1: It immed diately stops after shifting to the positiion method frrom the veloccity method instead
i of
searching th he reference point.
p
Position vellocity shifting method
m
selection 0～
～1 0 P/S
PA89 0: Shift to th
he velocity meethod after perrforming the position comma and;
1: The syste em immediate ely shifts to the
e velocity meth
hod after retre
eat from the PS STI signal.
Lower for th he velocity/possition method
PA90 positioning 0~99999 0 P
Higher for thhe velocity/poosition method
positioning 0~30000 0 P
The position n parameter ofo the referencce point in velo
ocity/position shifting.
s Whenn the encoder resolution
PA91 is less than or equals to 2500, PA90 ssets the refere ence point position. When thhe encoder resolution is
more than 2500,
2 PA90 se ets the lower 4-digit of the reference poinnt position, annd PA91 sets the higher
5-digit of the
e reference po oint position.
S
Servo drive unit 1. The spin
ndle firstly rotates
r base
ed upon thee setting velocity of
p
performs sh
hifting as the PA99 in
n the velocity mode;
lo
ong as it recceives the 2. The servvo drive unit will exactly stop based upon the reference
S
SON, PST
TI input 91 once it inspects the ppulse Z.
point set byy PA90+PA9
Step 2
ccommands.
3. Servo d
drive unit se
ends PSTO shifting coompletion sig
gnal by
GSKlink bu
us after the motor exac
ctly stops, thhe velocity/position
shifting is th
hen perform
med.
oints:
Key po
1. PA9
99 is set to the absolutte value. PA
A100 can be
e set if the direction
d of the motor’s
s velocity
sho
ould be chan
nged.
he motor can not searc

2. If th ch the pulse
e Z after rotating based
d upon the sspecified ve
elocity by
PA9
99, the drive m alarm E rr-25 orienta
e unit then may ation failure after 15 secconds.
3. Velo
ocity/position
n shifting pro e desired pulse Z for the
ocedure, the e orientation is derived frrom CN2
or C
CN3 which iss determined by PA97.
e 2nd position
4. The n encoder is
s with the 1 : 1 driving of
o the spindle should bee installed when
w the
drivving ration between spin
ndle and mo tor shaft is not
n 1:1.
5. As ffor the heavvy inertia loa

ading, the sp g may occur when veloccity/position shifts. In
pindle swing
thiss case, the parameter of o drive unit should be modified to reduce the
o the servo e motor’s
rigid
dity during shifting,
s and remove the
e swing in orrientation.
86
CNC system 1. System performs M15, that is, it retracts the PSTI signal; the
performs the M15 servo drive unit returns to the velocity method along with the
command disappearance of the PSTO signal.
Step 3 The servo drive unit 2. If the system is only retracted the SON instead of retreating
should be shifted to from the PSTI, the motor is on the free state. The servo motor still
velocity mode from the
searches the reference point to orientate again when SON signal
position mode.
is enabled, and then enter the position method.
The following figure is the velocity/position shifting time-sequence. When the SON and PSTI are
ON, the servo drive unit shifts to the orientation function (the reference point is the orientation position
from the setting of the PA90+PA91). Refer to the concrete shifting process:
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Chapter Seven Parameter
CHAPTER SEVEN PARAMETER
7.1 Parameter List
1. The parameter with “※” in front of the parameter number should be registered after
the parameter numerical value is altered. It only can be enabled after the power is
turned on again. The factory value of parameter followed with the “★” may differ
depending on different adapted motors.
2. In the column of the adapted motor, “T” is suitable for synchronous servo motor; “Y” is
appropriate for asynchronous one.
3. When PA2=0, “T” related parameter adjustment is enabled; when PA2=1, “Y” related
parameter adjustment is enabled.
4. Never attempt to modify the PA4 when GSKLink communication connection is
successful or PA118=1.
(Synchron
ous/async
Initializati
hronous)
on value
Suitable
motor
Setting
Para. No. Meaning Unit Reference
range
Parameter password
PA 0 0~9999 315
modification
★PA 1 Motor type code 1~1329 1/501 Appendix A
PA 2 Motor type selection 0~1 0/1 /
Monitoring setting of initial

※PA 3 0~35 0 4.3
power-on
Chapter
PA 4 Working mode selection 9~25 21
Five
st
The 1 proportion gain of the
★PA15 10~3000 200/400 Hz
velocity loop
st
The 1 integral time constant of
★PA16 1~3000 100
the velocity loop
Current command filtering
★PA17 10~5000 800/1000 T, Y
coefficient
Velocity feedback inspection
★PA18 10~5000 800/100 6.1
filtering coefficient
st
The 1 proportional gain of the
★PA19 10~1000 40
position loop
PA25 Position feedback gain 0~100 0 %
Position feedback low-pass

PA26 10~5000 2000/300 Hz
Position command direction
PA28 0~1 0 0 Section 6.3
reverse
Position command electric gear
PA29 1~32767 1
ratio numerator
Section 6.2
Position command electric gear
PA30 1~32767 1
ratio denominator
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PA31 Position arrivval range 0~

~30000 20 Pulse
×100
PA32 Position out-o
of-tolerance ra
ange 0~
~30000 400
Pulse
Position feeddback output
※PA34 0~1 0 3.3.6
reverse
Position feeddback output
PA37 1024~
~30000 20000 Pulse 3.3.6
resolution
The 2nd propo ortional gain of
o the
★PA45 0~3000
10 200/400 Hz
velocity loop
T, Y 6.1
The 2nd integ
gral time consttant
★PA46 1
1~3000 100
of the velocity loop
(Synchron
ous/async
Initializati
hronous)
on value
Suitable
motor
Para. No. M
Meaning Settting range Unit Reference
The 3rd propo ortional gain of

o the
★PA48 10
0~3000 200/400 Hz
velocity loop
T, Y
The 3rd integgral time consttant of
★PA49 1
1~3000 100
the velocity loop
Motor rotatio on direction reverse
PA51 0~1 0 6.3
in the valid velocity
v comma and
T, Y
Velocity commmand top spe eed
★PA54 1~
~30000 2500/6000 r/min
limit
★PA57 Linear accele
eration time co
onstant 0~
~10000 0/400 ms
T, Y 6.6
★PA58 Linear decele
eration time constant 0~
~10000 0/600 ms
PA61 Velocity arrivval enabled range 0

0~100 5 % T, Y
Zero velocitty output effective
e
PA62 0~100 5 r/min T, Y
range
Analog comm mand multiply 1~1024 1
PA63 T, Y
coefficient
Analog comm mand 1~1024 1
PA64 T, Y
frequency-divvision coefficieent
The mode se election shifting from
PA88 0~1 0
velocity to position
The mode se election shifting from
PA89 0~1 0
position to ve
elocity
Reference point loweer for
PA90 0~9999 0
velocity/positiion shifting
Reference point higher for
PA91 0
0~30000 0
velocity/positiion shifting
The 2nd po osition encoder type
※PA96 0~30 0
selection
Position fee edback input signal
※PA97 0~2 1/0
selection
T, Y 6.8
The 2nd position encoder
PA98 1 0~30000 1024
resolution
PA99 Orientation ve
elocity 1
10~1000 100 r/min
PA100 Orientation diirection selecttion 0~2 0

nd
The 2 possition feedbac
ck input
※PA101 0~1 0
signal reverse
e
Pulse
PA102 Position wind
dow in timer 0~100 2
Pulse
PA103 Orientation po
osition lower 0
0~30000 0
90
PA104 Orientation position higher 0~30000 0 Pulse
PA118 Internal enforcement enabling 0~1 0 T, Y 5.2
PA124 JOG operation velocity setting 0~12000 120 r/min T, Y 5.3

The torque limit of the Manual and
PA125 0~300 100 % T, Y
JOG operation method
PA132 Spindle orientation alarm time 0~30000 0 T, Y
PA133 Internal CCW torque limit 0~300 300 % T, Y 6.4
PA134 Internal CW torque limit -300~0 -300 % T, Y
(Synchron
ous/async
Initializati
hronous)
on value
Suitable
motor
Para. No. Meaning Setting range Unit Reference
PA137 Position out-of-tolerance disabled 0~1 1 T, Y
PA139 open-phase alarm disabled 0~1 1 T, Y
PA143 Brake time 10~32000 375/400 0.1ms
PA144 Overloading time 0~32000

T, Y
PA145 Module over-current time 0~32000 20/1000 1ms
Long time saturation alarm time of

PA146 0~30000 1000/30000 5ms
velocity regulator
Allow the top deceleration time of
PA147 the motor before the power-down 0~30000 5000/20000 ms T
brake operation
PA148 Servo locking delay time 0~30000 50 ms T,Y 6.5
The motor velocity in power-down

PA149 0~300 30 r/min T
brake operation
Spindle clamping interlocking
PA150 0~32000 0 ms Y 6.7
delay time
※PA156 GSKLINK servo axis number 1~20 1 5.4
7.2 Parameter Meaning Details

P: Position control S: Velocity control
ous/async
Synchron
Initializati
on value
hronous
Setting Application
Para. No. Meaning Unit
range method
Parameter modification password 0～9999 315 P, S
PA0 When PA0＝315, the parameters can be modified other than PA1 and PA2.
When PA0＝385, alter PA1, call the corresponding parameter for its motor type and motor type.
Motor type code 1～1329 1/501 P, S

★PA1 Generally, servo drive unit factory is already correctly set the adapted motor’s parameters, and
unexpected result may occur if incorrect modification executes so that user should carefully perform it!
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Correctly sett the PA1 corresponding witth the motor ty ype code base ed upon PA2’ss motor type.
Select the co
orresponding servo motor ccode based up pon the selecttion (Appendixx A), and the feed servo
motor type code range is 1～183.
1
Set the corresponding g spindle servvo motor code e based upon the Spindle S Servo Motor Type
T Code
Comparison Table (Appen ndix B), and th he spindle serv
vo motor type code range iss 501～546.
Mootor type selec
ction 0～1 0/1 P,
P S
PA2 PA2=0: Synch hronous motor, it usually co orresponds to the feed servoo motor.
PA2=1: Asyncchronous moto or, it usually ccorresponds too the spindle servo
s motor.
Monitoring setting of initiial power-on 0~37 0 P,
P S
Initial Inittial
Para. Paara.
p
power-on Explanatiion poweer-on Explanation
Value Vaalue
monitoring monittoring
PA3=0 Motor
M velocity PA3
3=19 Termiinal input state
e
Lo
ower 5-bit of ccurrent
PA3=1 PA3
3=20 Termiinal output sta
ate
motor
m position
Higher 5-bit of ccurrent
PA3=2 PA3
3=21 (Resserved)
motor
m position
ower 5-bit of p
Lo position
PA3=3 PA3
3=22 Hardw
ware version number
n
co
ommand
Higher 5-bit of pposition
PA3=4 PA3
3=23 Softw
ware version nu
umber
co
ommand
Lo
ower 5-bit of p position The 2nd position encoder Z
PA3=5 PA3
3=24
offfset signall absolute possition low
Higher 5-bit of pposition The 2nd position encoder Z
PA3=6 PA3
3=25
offfset signall absolute possition high
Motorr encoder Z signal
PA3=7 Motor
M current PA3
3=26
absoluute position lo
ow
The correspond ding
Motorr encoder Z signal
PA3=8 ve
elocity of the a
analog PA3
3=27
absoluute position high
co
ommand
The 2nd position n encoder
※PA3
PA3=9 Velocity comma
and PA3
3=28 singlee-coil absolutte position
low
Position comma and
PA3=10 3=29
PA3 singlee-coil absolutte position
ulse frequencyy
pu
high
PA3=11 Torque comma
and PA3
3=30
relativve position low
w
PA3=12 Motor
M torque PA3
3=31
relativve position hig
gh
The 1st position n encoder
Heat-radiator
PA3=13 PA3
te
emperature
low
The 1st position n encoder
PA3=15 DC
D bus voltage
e PA3
high
The 1st position n multi-coil
PA3=16 Alarm
A display PA3
3=34
encodder number low
Servo drive wo rking The 1st position n multi-coil
PA3=17 PA3
3=35
sttate encodder number high
Encoder feedbaack The 1st position n encoder
PA3=18 PA3
3=36
signal relativve position low
w
The reelative positioon higher for
PA3
3=37 the 1st position n absolute
encodder
92

Para. Initialization Application
Meaning Setting range Unit
No. value method
Working method selection 9~25 21 P, S
PA4=9: Manual operation
Inspect the operation and state monitoring of the servo drive unit and motor.
Internal enabling PA118=1, in Sr- menu, acceleration/deceleration can be operated by ‘ , ’.
PA4=10: JOG method;
Inspect servo drive unit and motor operation.
PA4 PA124 sets JOG velocity, PA118=1 internal enabling; in Jr- menu, the negative/reverse operation
can be performed by ‘ , ’.
PA4=21 ：GSK—LINK
Notice
PA4 parameter can not be modified when the GSKLink communication connection is successful or in
the case of the internal enabling PA118=1.
This parameter is already adjusted before delivery, it is better not to alter it.
st
The 1 proportional gain of the velocity
10~3000 200/400
loop
★PA15 The bigger the velocity loop proportional gain is, the stronger the servo rigidity is; however, when it is set
excessive big, the vibration (Abnormal noisy occurs in motor) issues when starting or stopping; the less
the value is, the slow the response is.
st
The 1 integral time constant of the
1~3000 100
velocity loop
The bigger the value of the velocity loop integral time constant is, the faster the system response is;
★PA16
however, the system may instable when the value is set to excessive big, even the vibration occurs. The
less the value is, the slower the response, it is better to set bigger as much as possible when there is no
vibration in system.
★ Current command filtering
10~5000 800 Hz P, S
coefficient
★PA17 It is used for restricting the current command frequency band to prevent the current from impacting and
vibrating, so that the current can be steadily answered. Enlarge the setting value as much as possible
when there is no vibration.
★ Velocity feedback inspection
10~5000 800/100 P, S
The bigger the velocity feedback filtering coefficient is, the faster the velocity feedback response is.
★PA18
When the setting value is excessive big, the bigger electromagnetism noisy of the motor may issue. The
less the setting value is, the slower the velocity feedback response is; if the setting value is excessive
small, the velocity wave is then increased; even the vibration occurs.
st
★ The 1 proportional gain of the
10~1000 40 P, S
position loop
The bigger the position loop proportional gain is, the faster the response of the position command is, the
★PA19
stronger the rigidity is. When this value is set to excessive big, the motor of the position overrun may be
generated leading to the vibration when starting/stopping. The less the setting value is, the slower the
response is, so that the following-error is then increased.
Position feedforward gain 0~100 0 P, S
The position loop feedforward gain is adjusted the velocity loop from the velocity information by the
PA25 position command. The bigger the setting value is, the faster the response is, and the following-error is
then decreased. When this setting value is set to excessive big, the instantaneous overshoot and
vibration of the motor are easily generated. When PA25＝0, the position feedforward function is disabled.
Position feedforward low-pass filtering
10~5000 2000/300 P
coefficient
The feedforward filtering coefficient is performed the smooth treatment for the position command
PA26
feedforward control; the bigger the setting value is, the faster the response of the step velocity command
is, which can be better restricted the position overrun and vibration caused from command velocity by
suddenly changing.
PA28 Position command direction reverse 0~1 0 P
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PA28＝0: Maintain
M the original
o comma and direction;
PA28＝1: The T inputted pulse
p comman nd direction reverse
The possition commmand pulse
e
2767
1~32 1 P
PA29 frequency-multiplication coefficient
(Refer to the
t Section 6.2 Electric ge ear ratio)
The possition commmand pulse
e
2767
1~32 1 P
PA30 frequency-d division coefficient
(Refer to the
t Section 6.2 Electric ge ear ratio)
P: Position control S: Velocity

y control
Para. Initializati Ap
pplicatio
Meaning Setting ra
ange Unit
No. on value n
Position arrival range 0~3000
00 20 P
Pulse P
When the position follow wing-error

is less than or equals to the
t setting
value of the
e PA31, servo drive unit
PA31 is regardedd as the po osition is
reached; the position arrival signal
PSR outputts ON; otherw wise, PSR
outputs OFF.
Position out--of-tolerance ra
ange 0~3000
00 400 ×1000 pulse P
When the po osition followin
ng-error excee
eds PA32 parrameter value in the positio n mode opera
ation, the
PA32
servo drive unit
u alarm is th hen generated d due to the ou
ut-of-tolerance
e.
(Refer to the Section 8.1 for Er-4 fault e
elimination)
Position outp
put signal reve
erse 0~1 0 P，S
※PA34 PA34＝0, ma
aintain the orig
ginal relationsship of the CN1 position feed
dback output ssignal;
PA34＝1, the
e phase relatio
onship of the p back output sig
position feedb gnal PAO, PB
BO are reverse
ed
The pulse number of the
t position
feedback outtput 1024~30000
0 10000 P
Pulse P, S
Set the corre

esponding pos
sition feedbacck output pulse numbers off the motor forr each circle when
w the
motor (or spiindle) is absollute encoder ssignal. It is be
etter to calculate it based uppon the machinery and
the instructio
on control unit..
For example
e:
PA37
The numerical value of the

e PA37 is coun
nted based up
pon the edge signal
s of the A//B phase pulse, that is,
gain 1 edge signal counts once. And the
erefore, PA37=64, the PAO (or PBO) pulsse numbers of servo
edback output are 16 after th
drive unit fee he motor (or spindle)
s rotates one circle.
Also: PA37=10000, the PA

AO or PBO ph
hase numbers of the actual position outpuut:
10000
PAO or PBO phase pulse numberss = 4 =250
00 (pulse/rev.)
The 2nd prroportional gain of the

10~300
00 20
00/400 Hz S
velocity loop
★PA45 Similar as the PA15, it is enabled
e in rigid
d tapping.
Generally, it is used in the rigid tapping of the machin
ne tool.
94
The 2nd integral time constant of the

1~3000 100 S
velocity loop
★PA46
Similar as the PA16, it is enabled in rigid tapping.
Generally, it is used in the rigid tapping of the machine tool.

The 3rd proportional gain of the 10~3000 200/400 Hz S
★PA48 Its function is similar as PA15 during the orientation or velocity position shifting.
Generally, it is used for the spindle orientation control of the machine tool.
The 3rd integral time constant of the
1~3000 100 S
velocity loop
★PA49
Its function is similar as PA16 during the orientation or velocity position shifting.
Generally, it is used for the spindle orientation control of the machine tool.

Initializati Application
Para. No. Meaning Setting range Unit
on value method
Velocity command CCW/CW is
0~1 0 S
reversed
PA51
PA51＝0: Maintain the original command direction
PA51＝1: Velocity command direction reverse
The velocity command top limit 1~30000 2500/6000 r/min P，S

★PA54
The top velocity of the motor is restricted in PA54.
Linear acceleration time constant 0~10000 0/400 ms S
The acceleration/deceleration time constant is only enabled in the velocity mode.

The acceleration time sets the desired one when the motor accelerates to the rated velocity from the
zero speed; refer to the t1 in the following figure.
The deceleration time sets the desired one when the motor decelerates to the zero speed from the rated
velocity; refer to the t2 in the following figure.
★PA57 The actual acceleration time of the motor = Command
velocity/rated speed x PA57;
The actual deceleration time of the motor = Command
velocity/rated speed x PA58;；

Note: If the setting time is ultra-small, the actual acceleration/deceleration is restricted by
the Max. acceleration/deceleration capacity of the servo drive unit; the actual time may more
than the setting one.
★PA58 Linear deceleration time constant 0~10000 0/600 ms S

(R f t th PA57)
Velocity arrival effective range 0～100 5 % S
PA61 In the velocity mode, when the actual velocity ＝ [Command velocity × (100－PA61) %～Command
velocity × (100＋PA61) %], the velocity arrival (PSR) is enabled.
Zero velocity outputs the effective

PA62 0~100 5 r/min S
range
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When the actual

a speed is
s less than or equals
to the zero speed output effective
e range
e, zero
speed (ZSP)) signal is then
n enabled.
Velocity com mmand multiple coefficient

PA63 1~1024 4 1 S
(Refer to PAA64)
Velocity com mmand freque ency-division
coefficient 1~1024 4 1 S
When the driving ratio betw ween the spinndle and motor shaft is not 1:1,
1 it is very cconvenient to match the
PA64 speed betwe een CNC with spindle by the e setting of the
e parameter PA63
P and PA664.
For example e, if the driving
g ratio betweeen spindle and d motor is 3:5, set the PA63 as 3, PA64 as 5; the
motor speed is 500 when the t CNC speccifies S 300; th he spindle speeed is then reggarded as 3000.
The mode selection
s shifting from the
velocity to the position mode 0～1 0 P/S
Velocity/posiition mode, se
elect the transiition mode shiifting the veloc
city control to tthe position co
ontrol.
PA88=0: Wh hen PSTI is ON,
O the motor firstly search hes the positio on based uponn the orientattion speed
PA88 specified by PA99, and the en dwells at th
he one of the reference
r poin
nt specified byy PA90, PA91, lastly the
servo drive unit
u shifts to thhe position conntrol.
PA88=1: Wh
hen PSTI is ON
N, the motor iss immediately shifted to the position contrrol when the current
c
velocity dece
elerates to the
e zero.
P: Position control S: Velocitty control

Inittializati Ap
pplicatio
Para. No. Meaning Setting ra
ange Unit
on value n method
The mode se
election shiftin
ng from the
0～1 0 P/S
position to th
he velocity mode
Velocity/posiition mode, se
elect the transiition mode shiifting the posittion control to the velocity co
ontrol.
PA89 PA89＝0: When PSTI sign
nal is OFF, sh ift to the veloc
city control afte
er performing the position command
c
ol operation.
of the contro
PA89＝1: When PSTI sign

nal is OFF, im mediately shifft to the velocity control, no matter whethe
er the
position commmand is perfoormed.

Velocity/posiition shifting reference
PA90 0～999
99 0 P/S
point position
n Low-bit
Velocity/posiition shifting reference
point position
n High-bit 0～30000 0 P/S
When the se
ervo drive unit is shifted to th
he position control from the velocity contrrol, which firstly
PA91
searches the
e position base
ed upon the o rientation spe
eed specified by
b PA99, and tthen dwells att the one
of the referen
nce point spec
cified by PA90
0, PA91, lastly
y wait for the position
p controol (Refer to the
e Section
6.9 Velocityy/position shiftting function fo

for the overall orientation pro
ocedure).
The 2nd posittion encoder type

※PA96 0～30
0 0
selection
96
PA96＝0: TTL incremental encoder signal PA96＝24: ENDAT2.2 agreement, 1400 linear
PA96＝3: TAMAGAWA agreement, 17Bits magnetic grid encoder;
single-coil absolute encoder signal PA96＝25: ENDAT2.2 agreement, 2048 linear
PA96＝4: TAMAGAWA agreement, 1617 multi-coil magnetic grid encoder;
absolute encoder signal PA96＝26: ENDAT2.2 agreement, 2600 linear
PA96＝8: 21Bits magnetic resistance encoder signal magnetic grid encoder;
PA96＝9: 22 Bits magnetic resistance encoder PA96＝27: ENDAT2.2 agreement, 3600 linear
signal magnetic grid encoder;
PA96＝10: 23 Bits magnetic resistance encoder PA96＝28: ENDAT2.2 agreement, 900 linear
signal
magnetic grid encoder;
PA96＝11: hollow magnetic loop encoder, 1VPP PA96＝29: ENDAT2.2 agreement, 600 linear
signal, 384 gear; magnetic grid encoder;
PA96 ＝ 12 hollow magnetic loop encoder, 1VPP PA96＝30: ENDAT2.2 agreement, 256 linear
signal, 512 gear; magnetic grid encoder;
PA96＝13: BISS agreement, 17 Bits single-coil
PA96＝37: 25Bit absolute single-core encoder.
absolute encoder signal
PA96＝14: BISS agreement, 1217 multi-coil
Explanation: PA96 set to 0 by default, which
is the standard configuration; When it is set
PA96＝15: BISS agreement, 19 Bits single-coil
as other encoders, it should be explained
PA96 ＝ 16: BISS agreement, 1219 multi-coil as the special version.

PA96＝21: ENDAT2.2 agreement, 512 resolution
magnetic grid encoder signal
Position feedback input signal

0～2 1 P. S
selection
※PA97 PA97=1, To select the motor encoder signal regards as the position feedback input signal.
nd
PA97=0, To select the 2 position input signal is treated as the position feedback input signal. In this
nd
case, CN3 does not connect the 2 position encoder feedback signal, the servo drive unit Er-24 fault
may occur.
PA98 The 2
nd
position encoder resolution 10~30000 1024 P. S
Orientation velocity 10～1000 100 r/min S

PA99 When the spindle orientates, it rotates along with the orientation velocity firstly, and then dwells at the
orientation position when servo drive unit captures the encoder Z pulse.
Orientation direction selection 0～2 0 S
PA100 PA100＝0, the orientation velocity of the motor is CCW when it rotates to start along with CCW;
Similarly, the orientation velocity of the motor is CW when it rotates to start along with CW.
PA100＝1, motors are all orientated along with the CCW velocity no matter how the operation direction
of the motor.
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GR-L
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PA100＝2, motors
m are all orientated alo
ong with the CW
C velocity no
o matter how tthe operation direction
of the motor..
The 2nd posittion feedback input signal

0～1 0 P. S
※PA101 reverse
PA101＝0: Maintain
M o the 2nd position input signnal SCA, SCB pulse.
the orriginal phase rrelationships of
PA101＝1: The
T phase rela ationship betwween the SCA and SCB is re eversed.
P: Position control S: Velocitty control

Initializati Ap
pplicatio
Para. No. Meaning Setting ra
ange Unit
on value n method
The position window in orientation
0～100 2 PPluse S
Servo drive
d unit ente
ers the positio on loop controol, and the mootor shaft (or spindle) dwells at the
orientation position after th
he orientation function is staarted. There is
s a slightly trem
mble on the motor
m may
PA102 occur when it stops at th he moment, d due to the closed-loop adjjustment of thhe position lo oop. It is
regarded as the completion of the orie entation when n the offset of
o the motor’ss tremble is within
w the
orientation window,
w and thhen the servo drive unit feed ds back the orrientation com mpletion signall to CNC.
If the PA102 is set as a little bit small, th
he orientation completion
c sig
gnal of the CN NC from the se
ervo drive
unit may insttable due to thhe tremble of tthe motor, eve en the orientattion may fail.
PA103 Orientation position
p low 0~999
99 0 P
Pulse
S
Orientation position
p high 0~3000
00 0 P
Pulse S
If the numeriical value of th
he orientation position is within the range
e of the PA1033, and then thhe PA104
PA104 does not neeed to be set. When
W the orien
ntation is perfo
ormed based upon
u the motoor’s encoder siignal, the
orientation position
p low caan be set acccording to the ‘DP-APO’, an nd the high oone is set according to
‘DP-APO.’. When
W the orientation is p performed bas sed upon the e 2nd positionn encoder sig gnal, the
orientation position
p low caan be set acccording to ‘DP P-SPO’, and thhe high one iss set accordin ng to the
‘DP-SPO.’.
DSP softwarre version Do not mo
odify
PA111
DSP softwarre number mark
Internal enab
bling
0～1 0 P，S
Enable the motor
m by settin
ng the parame
eter of the serv
vo drive unit in
n the case of nno external SO
ON signal
PA118 input.
PA118=0: En
nable the moto
or when the e
external input signal
s SON is ON.
PA118=1: Ennable the motoor inside the sservo drive unit instead of th
he external inpput signal SON
N.
Set the JOG operation velocity
0～12000 120 rr/min S
PA124
Set (Jr) the operation
o velocity in the JOG
G mode, and the
t operation mode is seleccted by PA4.
The torque liimit of the Man
nual and
JOG operatio
on mode 0～300 100 % S
PA125
The setting value is the rated torque percentage of
o the motor. The output toorque of the motor is
restricted by this paramete
er in the Manu
ual/JOG opera
ation mode.
Spindle orien
ntation alarm time
t 0~3000
00 0
PA132 1.6mms
The alarm tim
me of the orien
ntation failure after the spindle orientation
n function starrt is set.
PA133 Internal CCW

W torque limit
0～300 300 % P,S
S
98
Internal CW torque limit

-300～0 -300 % P,S
Set the internal torque restriction value of the servo motor along with the CCW/CW, its setting value is
PA134 the percentage of the rated torque. Two torque restrictions are enabled in any working method. The
setting value exceeds the allowed top overloading capacity by the module, and therefore, the actual
torque restriction is Max. overloading multiple allowed by module.
Position out-of-tolerance alarm
0～1 1 P
inspection selection
In the position method, when the following-error exceeds the setting range of the PA32, the servo drive
PA137 unit output Er-4 position out-of-tolerance alarms.
PA137＝0: Do not inspect the position out-of-tolerance alarm
PA137＝1: Inspect the position out-of-tolerance alarm
Open-phase alarm inspection
0～1 1 P,S
selection
When one of the three-phase input power is absent, and then the servo drive unit output Er-21
PA139
open-phase alarms
PA139＝0: Do not inspect the open-phase alarm
PA139＝1: Inspect the open-phase alarm
Brake time 10~32000 375/400 0.1ms P,S
PA143
(Factory debugging parameter, user can not change it!)

Initializati Applicatio
Para. No. Meaning Setting range Unit
on value n method
Overloading time 0~32000

PA144
Module over-current time 0～32000 20/1000 1ms P,S

PA145
Velocity regulator saturation alarm 1000/
0～32000 ms P,S
time for long time 30000
PA146
Velocity regulator saturation alarm time for long time
The Max. deceleration time of the

5000/
motor before the operation of the 0～30000 ms P,S
20000
PA147 allowed power-down brake
When the being operated motor should be locked by the power-down brake, the motor should be firstly
decelerated. Within the set deceleration time of the PA14, enforce the power-down brake to lock the
motor’s shaft if the motor’s speed is still more than the one set by PA149. Refer to the 6.5.
Servo locking delay time 0～30000 50 ms P,S

When the being operated motor should be locked by the power-down brake, the SON signal should be
PA148 turned off after the motor stops (servo locking), and then lock the power-down. From the servo locking
state to the power-down brake locking state, the motor’s shaft position is invariable after the servo
locking state should be delayed the PA148 so that guarantee the operation of the power-down brake.
The motor velocity when the

0～300 30 r/min P,S
PA149 power-down brake is performed.
Allow the top velocity when the power-down brake is operated.
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Spindle clam
mping interlocking delay
time 0～32000 0 ms
PA150 After the spin
ndle is clampe
ed at the side of the mechan
nical clamping
g equipment oof the spindle, and then
reduce the delay
d time of th
he motor torqu
ue.
GSKLINK se ervo axis numbber 1～20 0 1 P,S

It may be nott only one serv
vo drive unit fo
or establishing
g the series co
ommunication with CNC sys stem. Set
※PA156 the correspo onding servo axis number to the CNC system s for co
ontrolling one servo drive unit.
u And
therefore, the
e servo drive unit
u connected d with the sam
me CNC system m can not be sset the repeated servo
axis number, and this para ameter should d be enabled without
w power after altering.
100
Chapter
C Eightt Abnormality & Trouble
eshooting
C
CHAPTER
R EIGHT
T ABNO
ORMALITY & TR
ROUBLE
ESHOOT
TING
¾ If the serv
vo drive uniit or the mo
otor should be disassem
mbled beca
ause of the
inspection
n or mainte
enance, it is
s better to operate it with the prrofessional
Cautio
on
personnell or contact tthe technicia
ans;
¾ When the
e servo drivve unit abn
normality oc
ccurs, the aabnormalitie
es can be
inspected or treated after the power
p is cut off for moore than 5m
min till the
E’ indicator iis turned offf, prevent th
‘CHARGE he remainingg voltage off the servo
drive unit from hurting
g the person
n.
8.1 M
Meaning and Treatment o
of Alarm or Prom
mpt Code
e
The
e motor mayy stop when
n the servo d
drive unit inspects the fault;
f simultaaneously, th
he 2-LED att
the rightt enters the
e flashing state, and the
en the alarm
m code displlays on the operationall
panel. A
Also, enter th
he menu, a
and then che
eck the curre
ent alarm coode. Refer to
o the related
d
content based upon
n the alarm code,
c and co
omprehend the fault rea
asons and trroubleshootings.
Alarm
Mean
ning Mai n reason Trou
ubleshooting
g
No.
1. Encoder feedback signal Ins
spect the mootor encoder oro its signal
abnnormality connection or PA
A1 setting erro
or
2. In the velocity mode,
Motor velocity
accceleration/decceleration time
exceeds the Ennlarge the accceleration time
e PA57 and
connstant setting is excessive small,
s so
setting va
alue the
e decelerationn time PA58
Er-1 at the velocityy overshoot value is
tha
(Refer to the
exc
cessive big.
PA54 top velocity
limit) 3. PA54 (top vvelocity limit)) setting Coorrectly set thee PA54 value based upon
value excessive small. the
e motor’s nam meplate.
4. Excessive biig position co
ommand
orrectly set thee electric gearr ratio
Co
ele
ectric gear ratio
o
1. Disconnectedd or damaged
d of the De
etect the braake resistance and its
bra
ake resistance
e. connection.
2. Do not match h the brake re esistance A. Change the resistance va alue and the
(Reesistance valu
ue excessive big);b ake resistancee matched with the power;
bra
Main circcuit DC Noote: The less the brake re esistance B. Decrease the ON-OFF F frequency
Er-2 bus voltage value is, the moore the current flowing based upon the use conditionns.
excessive
e high oveer the brake ccircuit is; it is easy to C. Increase the acceleration//deceleration
dammage the bra ake tube in th he brake tim
me based upo n the use connditions, and
circ
cuit. adjust the PA577, PA58 by velocity mode.
3. Instable
I powe
er voltage; De
etect the poweer
4. Internal
I brake
e circuit damag
ged. Ch
hange the servvo drive unit
Main circcuit DC 1. Inadequate ppower capacity input De
etect the poower capacitty and the
Er-3
bus voltage cau
using the lowe
er voltage; controllable cab inet electric pa
art
101
GR-L
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excessive low
w 2. It oc
ccurs when th he power is tuurned
on; thhe servo drivve unit does s not Detect the main circcuit electric co
ontrol
connec ct with the norrmal voltage;
3. Fail to start the start circuit of
o the
ge the servo ddrive unit
Chang
servo drive
d unit
Position o
offset 1. Sett excessive bbig of the pos
sition Detect the setting of the electtric gear
counter exce eeds comma and electric ge
ear ratio; ration PA29/PA30
the setting value
v A. Inc
crease the sservo drive unit and
2. Looading inertiaa is biggerr or
(Refer to the motor’’s power
inadeq
quate torque.
setting range e of B. Dec
crease the loaading
the PA32) 3. Motor encoder fau ult or fail to se
et the Detect the motoor encoder and its
(PA137=0: Do encodeer resolution; conne
ection, as well the setting of the PA1
Er-4 not detect the
position
out-of-tolerannce 4. The phase seque ence U, V, W of
o the
alarm; motor is incorrect, itt may generate
e the
PA137=1: De etect Er-12 or Er-27 alarrm; (It is available ange two phasses freely
Excha
the possition for th
he AC asyncchronous sp pindle
out-of-tolerannce servo motor)
m
alarm.
Continu
ued:
Alarm
Meaning Main re ason Troubleeshooting
No.
The numericcal 5. Incorrect set the P PA98 when using
u
value of thee the 2ndd position enccoder so thatt the Detectt the setting off the PA98
position offsset feedbac ck signal is ab
bnormal;
counter excee eds 6. Exceessive small o
of position looop or
Adjust the velocity loop or posittion loop
the setting va alue velocity
y loop gain se
etting (Refer to
o the
Er-4 gain
(Refer to the PA15, PA16,
P PA19)
position
out-of-tolerannce 7. Exceessive small ssetting of pos
sition
ctly set the PA
Correc A32
inspection ran nge out-of-tolerance effecctive range
set by PA32 2)
A. Mo otor’s heat disssipation conndition is
or’s temperatu
1. Moto ure is higher than blockeed, it is betterr to unblock the heat
145℃ setting value; dissipa
ation channel.
(This temperature is restricted d by B. Mo otor’s current excessive big;
b it is
PA183;; Motor’s temp perature restric
ction better to reduce thhe motor’s loading or
Motor
of differrent types mayy inconsistentt). inspec
ct whether thee motor or serv
vo unit is
Er-5 temperature
normal.
abnormalityy
Correc
ctly connect thhe motor’s tem
mperature
1. Fail to
t correctly co
onnect the mo
otor’s
detectiion signal cabble based upo
on it User
temperature detectio on sensor
Manuaal.
2. Mootor’s tempe
erature detec
ction Contac
ct the after-sa les of our com
mpany for
sensor damaged; mainte
enance.
1. Mo otor torque adequate, or A. Che

eck whether thhe PA1 is corrrect; call
Velocity overloaading, so that the motor can
n not the mo
otor default paarameter againn.
Er-6 regulator steadily
y operate fo ollowing with the B. Che
eck the machhinery equipm ment, and
saturation fa
ault velocity
y for long time . ensure
e that there is no block on it.
2. U, V, W three-pha se phase reve

erse; Correc
ctly connect thhe U, V and W wirings.
102
Chapter Eight Abnormality & Troubleshooting
Verify the corresponding motor type code

3. Motor’s default incorrect, or too soft
by PA1; correctly call out the motor’s
of motor characteristic;
default parameter again.
4. Motor or encoder abnormality Change the servo motor
Position offset Excessive big setting of the position
Er-8 Check the setting of the PA29, PA30.
counter overflow command electric gear ratio.
1. Poor motor encoder signal wiring or Check the connector and signal cable
incorrect wiring; welding
Motor code 2. Too long cable of the motor encoder
Er-9 signal feedback signal feedback so that the signal Shorten the cable length (within 30m)
abnormal voltage is lower;
3. Motor encoder damaged; Change the motor or another encoder
4. Servo drive unit control board fault Change the servo drive unit
1. It appears when the power is turned
on and the servo drive unit is disabled, Change the servo drive unit if it is the
and it can not be eliminated. reason A.
A. Servo drive unit control board fault; Check and correctly connect the brake
B. Brake resistance wiring terminal is resistance if it is the reason B.
short-circuit with the grounding.
2. It appears when the power is turned Poor grounding or external interference.
on and the servo drive unit is disabled, Inspect the grounding and search the
and it can be eliminated after the interference resource and depart it or
IPM module fault
power is turned on again. perform a shielding treatment.
Er-11 inside the servo
3. It appears when the power is turned
drive unit
on and the servo drive unit is enabled,
and it can not be eliminated.
A. Motor power cable is short-circuit Change the motor cable or motor if it is the
among the U, V and W or between the reason A
U, V, W and PE. Change the servo drive unit if it is the
B. Servo drive unit IPM module reason B or C.
damaged;
C. Servo drive unit current sample
circuit OFF.
Continued:
Alarm
Meaning Main reason Troubleshooting
No.
IPM module 4. It occurs when the motor starts or If it is the reason A, recover the motor’s
failure inside the stops; the alarm of restart can be default parameter operation. (Refer to the
servo unit eliminated. Section 4.4 for details)
A. Motor’s default parameter error in It it is the reason B, increase the
Er-11
the setting of the servo unit; acceleration or deceleration time of the
B. Loading inertia is bigger; the command, and reduce the acceleration
command acceleration rate is rate of the command. Alternatively, reduce
excessive big when starts or stops. the loading inertia.
1. Motor overcurrent for long time; Reduce the loading.
Loading alarm in
2. Incorrect parameter setting, the Ajust the capacity parameter related to the
Er-12 the motor’s
motor may have vibration or motor again (Refer to the PA15, PA16,
operation
abnormality noisy; PA18 and PA19 explanations)
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3. Inco
orrect PA1 seetting causing the e PA1 again bbased upon th
Set the he motor
incorrec
ct motor enco der linear num
mber type co
ode.
Any twwo-phase of tthe AC async chronous
spindle
e motor can bee exchanged.
4. U, V,
V W wiring e
error. It is sim
milar Perma anent magnetiic synchronou us motor
betweeen power-on operation and is correctly conneccted based upon
u the
Er-27 alarm.
a factory
y cable-standaard; the brown, red and
blue cables are sepparately corressponding
to the U, V and W.
A. Red
duce the loadinng
overloading 1. Motoor overloading g operation for
f a
B. Change the biggger power for
f drive
alarm in the long tim
me, its time is llonger than Er-12.
Er-16 equipm
ment
motor’s
2. Incorrrect setting off the motor’s rated
r Correc
ctly set the d rive paramete
er based
operation
current parameter upon the motor nammeplate.
1. Exce essive high po
ower voltage input Conneect the desiredd power for se
ervo drive
for a lon
ng time. unit
Excessive lo ong 2. There is no braake resistance e or
Er-17
of the brake tiime bigger one; the en ergy can nott be
Conne
ect the correct brake resistance
release
ed immediatelyy in the brake
e so
that the
e internal DC vvoltage is raise
ed.
Excessive high
h
of the DC bus
Er-18 Brake circuit
c fault Chang
ge the servo drrive unit
vvoltage, with
hout
brake feedbacck
DC bus voltage
does not arrrive
Er-19 tto the brrake Brake circuit
c fault Chang
vvalve value, with
w
brake feedbacck
EEPROM ala arm 1. Fail to
t read the da
ata in EEPROM
M for Recover the motorr’s default paarameter
inside the se
ervo servo drive
d unit wh
hen the poweer is again, refer to the Section 4.4 Default
Er-20 drive unit when turned on.
o value operation
o recoovery.
tthe power is
2. EEPROM chip or ccircuit board fa
ault Chang
tturned on.
A. Cheeck the powerr input wiring, connect
Open-phase 1. One phase of the iinput power wiring
w
it again
n.
alarm of the is OFF or power ope ning-phase.
Er-21 B. Insp
pect the inputtted 3-phase po
ower.
input power R,
R S
2. Circu
uit input fault of the servo drive
d
and T Chang
unit pow
wer
Encoder null
Er-22 Failure to the encode
er null Chang
ge the encoderr and then zerro again.
alarm
Currentt inspection ccircuit fault, orr the
Excessive big
Er-23 current sensor dam aged, the co ontrol Chang
current error
power voltage
v fault.
1. Fail to connect the 2nd pos
sition
nd
The 2 position encode
er feedback signal, but the Modify
y PA97=1
input sig
gnal parame et to 0;
eter PA97 is se
Er-24 abnormality of 2. Spinndle encoder feedback siignal
tthe C
CN3 abnorm mality. Inspecct the wiring, w
welding and connector
c
interface milar to the Er-9
(It’s reason is sim to the 2nd position enncoder signal
alarm)
104
Continued:
Alarm
No.
1. Fail to inspect the Z pulse signal; Inspect the feedback input signal wiring
2. The corresponding parameter
Inspect the motor type code PA1 or the
setting is improper or excessive big
relative gain parameter PA15, PA16,
gain setting due to the loading inertial
Fail to orientate PA18 and PA19
is bigger.
Er-25 the servo drive
unit 3. When orientation is performed by
Modify PA101 parameter, and then alter
the 2nd position input signal, and the
its phase-sequence into same identical;
phase-sequence between the spindle
refer to the parameter explanation of
encoder is inconsistent with the motor
PA101.
encoder signal A/B phase.
Incorrect wiring
Error in the servo drive unit main
of U, V and W
circuit output U, V, W corresponding to
Er-27 (Enabled in Any two-phase can be changed freely
the motor’s phase-sequence of U, V,
asynchronous
W.
motor)
Incorrect
The parameter does not readjust and Call out the default parameter again, and
software
Er-28 register after the software is copied or the power is turned on after the parameter
parameter
upgraded. is registered.
upgrade
Incorrect
The new version and the old one are
power-on Perform the parameter write-in operation
Er-29 conflicted when the software
parameter and turn the power-on again.
upgrades.
inspection
Excessive high Excessive high AC power input Stable the power and adjust the network
Er-30 AC input voltage voltage which exceeds 115% of the voltage or increase AC reactor, AC filter,
alarm rated voltage. etc.
Illegal code for 1. Defective interface contact or cable Inspect the encoder interface and
encoder UVW shielding shielding cable
signal 2. Encoder UVW signal damaged; Change the encoder
Er-32
(Enabled in
synchronous 3. Encoder interface circuit fault. Change the servo drive unit
motor)
Excessive big
Irrational parameter setting of pulse
Er-34 pulse electric Correctly set the PA29/PA30
electric gear ratio
gear ratio
Brake tube GS2019,GS2025,GS2030,GS2045 Change the servo unit
failure alarm servo units alarm are generated;
interal brake circuit failure.
Er-35 The servo units other than the
above-mentioned types are generated
Set the PA225=0.
this alarm, it is the reason that the
parameter setting is incorrect.
1. 3-phase main power power-off or Check the main power to ensure the
3-phase main instantaneous drop-off normal input of the 3-phase power
Er-36
power OFF 2. 3-phase main power inspection
Change the servo drive unit
circuit fault
Radiator alarm 1. Temperature inspection sensor
Er-37 Change the servo drive unit
when its open-circuit;
105
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ttemperature is cessive low of the amb

2. Exc bient Ensure e the workingg ambient of the
t drive
lower than -20
0 ℃. temperature unit is more than -200℃
Radiator ala arm 1. Motoor overloading

g operation for
f a
ce the loading
Reduc
wwhen its long tim
me;
Er-38
ttemperature is 2. Exce
essive high of the ambient Improv
ve the ventilatiion condition
higher than 75
5 ℃. 3. Therrmistor short-ccircuit. Chang
Data read error

e 1. PAA1 parameter ssetting error; Call ou
ut the correct m
motor’s default value
in the absolute 2. Enccoder feedbacck CN2 OFF
F or
Er-39 Check CN2 wiring
encoder sen
nsor defectiv
ve contact;
mode 3. Abso
olute encoder damaged. Chang
ge a new motoor
Data
ttransmission Encode er or encod
der cable being
b Check the servo ddrive unit an
nd servo
Er-40
error of absolute interfered. motor grounding
encoder
Multi-core data
d
error of the 1. Encoder damagedd, change it.
Er-41 Absolutte encoder mu
ulti-coil data error.
absolute 2. Che
eck the groundding
encoder
Continued:
Alarm
Meaning Main rea
ason Troublesshooting
No.
1. PAA1 parameter ssetting error; Call out the
t correct mootor’s default value
v
Read the
2. Encooder EEPROM M read error of
EEPROM error
e Check CN2
C wiring
Er-42 the serv
vo drive unit o
of power-on;
in absolute
encoder 3. Motor
M encod
der EEPRO
OM
Change the motor
damage
ed.
V
Verification error
e 1. PAA1 parameter ssetting error; Call out the
v
w
when read
ding 2. Data
a verification error after the
Er-43 EEPROM in drive unit reads the encod der Perform the Ab-Seet encoder write-in
absolute EEPROOM when the power is turne ed operation
n
encoder on.
Incorrect 1. PAA1 parameter ssetting error; Call out the
v
configuration of
Er-44 2. Encooder feedbacck CN2 OFF or
tthe encooder Check CN2
C wiring
detectiv
ve contact.
single-/multi-ccore
1. Chec ck whether th the groundingg in the
In the sensor mo ode, the da ata
g layer of thhe encoder cable is
shielding
verification error whhen reading the
Encoder d
data reliable.
Er-45 he encoder. The
current position of th
vverification error 2. Check k whether the overall equipments of
alarm occurs
o when tthe U/VW of the
the machine tools are leaked to the
motor is
s leaked to PE
E.
groundinng.
Switch on
o the servo aand system po ower and
1. The motor high-vvelocity is to be then entter the systeem interface, and the
A
A4Ⅱ enco
oder
Er-46 rotated during the p
power-off of the power is turned on after GSKLink
overspeed
servo drive.
d communication is norm mal, this alarm
m will be
automatically removedd.
106
1. Install 3.6V battery

2. Switch on the servo and system power
2. Servo unit power-on occurs when
and then enter the system interface, and the
the external 3.6V battery is
power is turned on after GSKLink
disconnected.
communication is normal, this alarm will be
automatically removed.
1. Ajust the motor’s velocity below the
100r/min
A4Ⅱ encoder When the servo drive unit is ON, 2. Switch on the servo and system power
Er-47 single-coil motor rotates more than the and then enter the system interface, and the
resolution error 100r/min. power is turned on after GSKLink
1. Execute the interference measure to the
encoder wiring
2. Switch on the servo and system power
A4Ⅱ encoder
1. Encoder to be interfered; and then enter the system interface, and the
Er-48 single-coil
power is turned on after GSKLink
counting error
2. Encoder fault Change the servo motor
Change the battery, switch on the servo and
system power and then enter the system
1. Excessive low of the encoder interface, and the power is turned off and
battery voltage then switch on again after GSKLink
Confirm the connection is normal, switch on
the servo and system power and then enter
A4Ⅱ encoder 2. When the servo drive unit is OFF,
the system interface, and the power is
Er-49 internal cut off the over-encoder battery or
turned off and then switch on again after
underpressure connection cable;
GSKLink communication is normal, this
alarm will be automatically removed.
Confirm the connection is normal, switch on
the servo and system power and then enter
the system interface, and the power is
3. Encoder cut off
turned off and then switch on again after
GSKLink communication is normal, this
alarm will be automatically removed.
TAMAGAWA Encoder or encoder wiring is to be Check whether the grounding of the servo
magnetic interfered. unit and motor are corrected, and magnetic
Er-50 resistance code resistance eoncder connectiion shielding
CC data error cable is disconnected or poorly connected.
alarm
Excessive high
Excessive high of the position
of position Reduce the position command frequency, or
Er-51 command frequency or excessive
command correctly set the electric gear ratio
big of the electric gear ratio.
frequency
107
GR-L
L Series Bus AC
er Manual
Continued:
Alarm
Meaning Main rea
ason Troublesshooting
No.
Read error ala
arm 6 parameter ssetting error
1. PA96 Reset the 2nd position encoder type.
in the 2nd
oder
position enco 2. The 2nd position encoder inp put
Er-53 sensor mode signal connecting to the CN3 is he wiring of thee CN3.
Check th
discon
nnected or poo orly connected
d.
3. The e 2nd postio on encoder is
Change a new encodeer.
damage ed.
nd
The 2 enco oder 1. The data verificattion error wheen
CRC verification Check thhe shielding laayer and the grounding
g the current position of the
reading
alarm of the 2nd encoder is fiixed.
2nd enc
coder in the se
ensor mode.
Er-54
2. Whe en the U/V/W of the motor is
Check thhe overall macchine tool dev
vices are
leaked to the PE, thiss alarm is eassily
leaked to
o the groundinng.
to geneerate.
The data offfset Encode er or encoder ccable is to be 1. Checkk wheterh the ggrounding of thet servo
of the 2nd interfered. unit and motor are norrmal;
position encooder 2. Checkk whether the shielding laye er of the
Er-55 is excessive big.
b encoder is disconnect or poorly connected;
3. Checkk whether the installation of the
encoder is consistent wwith its installa
ation
ments.
requirem
The CC data d Encode er or encoderr cable is to be 1. Checkk wheterh the ggrounding of thet servo
error alarm off the interfered. unit and motor are norrmal;
nd
2 position 2. Checkk whether the shielding laye er of the
Er-56 TAMAGAWA encoder is disconnect or poorly connected;
magnetic
resistance
encoder
CRC verification Encode er or encoder ccable is to be 1. Checkk wheterh the ggrounding of thet servo
alarm of interfered. unit and motor are norrmal;
HEIDENHAN 2. Checkk whether the shielding laye er of the
Er-57 magnetic g
grid encoder is disconnect or poorly connected;
encoder 3. Checkk whether the installation of the
additional encoder is consistent w ation
with its installa
information 1 requirem
ments.
The 1st and 2nd t set the 1st a
1. Fail to and 2nd encod
der A. Chec ck the settingg of the driv ving ratio
position driving ratio; PA41/PA A42 in the feedd working mod de;
ffeedback d
data
offset alarms due 2. Moto
or encoder faiilure or encod
der A. Checkk the setting oof the PA96 or PA98;
Er-58 tto excessive big.
b parameeter setting errror; B. Checkk the setting oof the PA101 (It
( should
be restarrted after moddifying).
3. The e feedback position offs set e or loose structure of the 2nd
Data-free
betwee en the 2nd enccoder and mottor encoder;;
is excesssive big;
Power-on There is no bacckup for the
detection bacckup parame eter, or th he parametter Backup the parameteer again, perform the
Er-60
EEPROM fault f verification in the baackup space is EE-bA operation
alarm incorrecct.
The rela
ative
parameter of the
When recovering the backup
motor is
on EE-rs, diffferent types are
operatio a Save th
he parameterr again, perfform the
Er-61 abnormal when
inconsis
stent with the motor’s EE-SEt operation
o
vverifying the
encodeer resolutions.
register area and
backup area.
The parame eter Backup the parameteer again, perform the
vversion such as EE-bA operation
tthe softwaare,
Inspectt the software
e version in the
backup and
Er-62 backupp area is incon
nsistent with the
preservation are
current one.
inconsistent
wwhen the power
is turned on.
108
Synchronous/as It is being performed the hazard If this alarm occurs; it is better to contact the
Er-63 ynchronous operation. Shift the control software factory technologist.
shifting alarm of synchronous and asynchronous.
Continued:
Alarm
No.
GSLINK Inspect whether the communication cables
communication Defective or broken GSKLINK at both servo and CNC sides are effectively
Er-100
mst absence communication contact connected.
alarm
Er-101
alarm
Er-102
alarm
mdt data CRC mdt data CRC verification error in CNC and servo drive unit are turned on
verification error GSKLINK communication again, if the fault still occurs, and then
Er-103
in change the servo drive unit.
communication
PFGA PFGA initialization error in GSKLINK CNC and servo drive unit are turned on
initialization error communication. again, if the fault still occurs, and then
Er-104
alarm in change the servo drive unit.
communication
GSKLINK GSKLINK communication jump CNC and servo unit should be restarted
communication abnormality again, if the fault still occurs, change the
Er-105 jump monitoring servo unit.
abnormality
alarm
Servo unit shows its alarm, which means that servo unit prompts user to pay attention to the
relevant alarm contents; it is better to treat it immediately, prevent the fault from generating. The
servo unit still can be normally operated before the alarm occurs.
Alarm
No.
GS-LINK
communication
Ar-601 mdt CRC
verification error
Inspect whether the servo and CNC side
prompt Defective GSKLINK communication
communication cable is effectively
GS-LINK cable contact
connected.
communication
Ar-602 gdt CRC
verification error
prompt
Fail to connect Fail to connect the GSKLINK Connect the servo CN4 and CN5, this alarm
Ar-603 the bus_read in communication is then automatically eliminates.
109
GR-L
L Series Bus AC
er Manual
the GSKLINK
communicatio
on
The external It is necessary to chaange the batte ery when

battery the servoo drive unit is ppower on. This caution
Promptt for battery un
nderpressure for
f
Ar-701 underpressure
e of will be automaticaally eliminate ed after
the abs
solute encoderr
the absolute changing g a battery.
encoder
Positioning place Position
ning place val ue is more tha
an Check the PA90, PA91; PA6
68~PA75;
exceeds the the possitioning enco
oder single-coore PA103~P
PA110;
Ar-702 positioning counterr range
encoder coun nter
range
Motor The mo otor type code
e set by PA1 has Modify PA1
P setting.
Ar-703 initialization no corrresponding m motor parametter
vvalue disabled d in the software;
s
Motor Setting value when mottor A. Motor’s radiator ccondition bloc cks, it is
temperature temperature reachess to 130℃ better to unchock the rradiator fan ch hannel.
Ar-704 prompts due e to B. Motorr current excesssive big; it is better to
overheating reduce th
he motor’s loaading or checkk whether
the moto
or or servo unitt is normal.
Motor prom mpts Setting value when mottor Motor’s ambient tempperature is excessive
e
due to the temperature reachess to -30℃ low; it is better to rise iits temperaturre.
Ar-705
excessive low
temperature
8.2 No
ormal Tro
oublesho
ooting
Comm
mon
abnorm
mality Prob
bable reason Inspec
ction and trou
ubleshooting
g
phenom
menon
Recover
R the motor’s
m defaultt parameter or refer to
1. Incorrect se
et of velocity lo
oop gain he debugging method of the PA15, PA
th A16 and
PA18
P in the Section 6.1.1 forr debugging manually.
m
The biggerr vibration The
T vibration and
a noise aree increased along with
of motor’s operation, its
s velocity. Sin
ngly operate tthe motor with
h dry run
2. Mechanic cal dynamic balance
or whistle occurs. re
egardless of thhe other connnections of the
e motor’s
tolerance con
nnecting with tthe motor
shhaft; and then the vibration disappears so
o that the
shaft.
dynamic balan nce of the m machinery sh hould be
re
eadjusted.
The accelera ation/decelerattion time
The biggger sway setting of the corre
esponding
Decrease
D the velocity-loop
v inntegral time, or
o reduce
occurs in the motor instruction coontrol unit com
mmand is
th
he motor’s spe
eed.
start/stop. excessive sm mall due to thhe bigger
loading inertia
a.
★Er-27 alaarm occurs Exchange
E any two phases freely. For example:
e
Incorrect wiring phase-ssequence
when the power is The
T U port of thhe servo drivee unit connects
s with the
between the servo
s drive un
nit and the
turned on V port of the motor
m cable; thhe V of the se
ervo drive
U, V, W of the
e motor
unit connects with
w the U of thhe motor cable e
110
★Er-2 ， Er-17 alarm Servo drive unit disconnects to the

occurs when the brake resistance or the excessive Correctly configure the brake resistance
motor is operated. big brake resistance.
There is no appropriate Set the value of the PA57, PA58, observe the
★Motor can not brake
acceleration/deceleration velocity effect for increasing 100 each time till the
to stop
time due to the bigger load inertia abnormality removes.
A. Change the motor
★Instable spindle
A. Motor encoder fault B. Reset the motor’s default parameter. Especially,
motor operation,
B. Parameter setting error the setting of the motor’s poles and the resolution
bigger velocity wave
of the encoder
1. Check whether the acceleration/deceleration
★ Excessive big of
time of the motor’s start/stop is short.
the velocity overshoot
2. Check whether the velocity-loop and
when starts/stops. The bigger load inertia
position-loop proportional integral parameter is
There is obvious
excessive big. Refer to the parameter setting
swing in the motor.
method in Section 6.1)
Fan damaged, or incorrect
1. Check the radiating/cooling fan
connection for the fan’s power
Radiating duct is stuffed by foreign
2. Check the radiating duct
material.
★ Spindle motor Ambient temperature is ultra-high,
overheating increase or improve the radiating 3. Check ambient temperature;
equipment
4. Check the loading state, whether it is
Heavy load, relief it
overloading operation.
Motor default parameter error 5. Check the motor type code parameter
1. Check whether the velocity-loop and
Motor default parameter error
position-loop parameter are set appropriately.
The input command encounters to
the strong interference. It is better to 2. Check whether the analog command or the
★ There is abnormal
depart from the interference position command is with strong interference.
noisy in spindle
resource and handle the shielding.
motor.
The load is stopped operation by 3. Disconnect the load, check whether the load is
foreign material, or distorted with retard
A. Fix the screw of the motor 4. Freely stop in the high velocity, check whether
B. Motor internal fault the motor is still noisy.
8.3 Inspection and Maintenance of Servo Drive Unit
Never attempt to perform the insulation inspecting for the servo drive unit by
megohmmeter or similar tools; otherwise, it may cause the damage in servo
Notice drive unit.
User can not disable or repair the servo drive unit.
It is better to change the encoder backup battery each half year.
111
GR-L
L Series Bus AC
er Manual
Inspection
n
Inspecttion item Inspection
n time Daily mainteenance
type
mmediately tre
Im eat it if the abbnormal odour occurs;
Abnorm
mal odour Once a d
day im
mmediately chaange it if the equipment aged
a and
will be damaged
d.
Dust, moisture and Clean it by dry fabric
f or the hiigh-pressure gun
g after
Electric Monthly at lea
ast
greasy dirt filttering
cabinet
Im
mmediately chhange or treeat it if there e is the
ambient
da
amage or age eing in the exxternal insulation layer
Electric cable,
c
Once a half ye
ear an
nd the conn nection placee of the insulation
connectioon terminal
wrrapping.
Fa e terminal by sscrewdriver.
asten the loose
Obbserve whether the blowingg speed and value of
Radiatin
ng/cooling e cooling fan is normal orr abnormality heating,
the
Once a w
week
fan an
nd it is necess
sary to changee the cooling fan if the
Servo drive
e ab
bnormality occcurs.
unit Dust in th
he cooling Clean it by dry fabric
g after
Monthly at lea
ast
fin filttering
Once a half ye
ear at Faasten the terminal block, connnector and
Loose screw
least ins
stallation screw etc. by the sscrewdriver.
Thhe noisy and vibration aree obviously in
ncreased
co
omparing with common; im mmediately insspect the
Noisy, vibration Once a d
day
co he mechanicall equipment and repair
onnection of th
the
e fault.
Obbserve whethe er the blowingg speed and vaalue of
Radiating
g/cooling e cooling fan is normal or abbnormality heating,
the
Once a week at least
fan an
nd it is necessary to changee the cooling fa
an if the
ab
bnormality occcurs.
Motor
Dust, watter-drop, Clean it by dry fabric
g after
Monthly at lea
ast
greasy dirt filttering
The meassure for It is
i better to me
easure it by 5000V megameter; its
Once a half ye
ear at
insulation
n resistance valuee should be mmore than 10MΩ. If it is
least
resistance lesss 10MΩ, contact our technnologists.
Motor’s in
nstallation Chheck whether the mechanica cal equipment is wore
Once a half ye
ear at
and loading byy the specified machinery toools, the conne
ection is
least
connectioon osed and it is chucked by fooreign matters
loo s.
112
Appendix
APPENDIX A MOTOR TYPE CODE TABLE
z Adapted motor type code table of the GR2000T-L AC servo drive unit
Motor type code Motor type code
(PA01 resolution) Servo motor type (PA01 Servo motor type
resolution)
PA001=3 130SJT-M075D（A） PA001=64 130SJT-M075E（A2）
PA001=4 130SJT-M100D（A） PA001=65 80SJT-M024C
PA001=5 110SJT-M040D（A） PA001=66 80SJT-M024E
PA001=6 110SJT-M060D（A） PA001=67 80SJT-M032C
PA001=7 130SJT-M050D（A） PA001=68 80SJT-M032E
PA001=8 130SJT-M100B（A） PA001=70 80SJTA-M024C
PA001=9 130SJT-M150B（A） PA001=71 80SJTA-M024E
PA001=11 110SJT-M040D PA001=72 80SJTA-M032C
PA001=12 110SJT-M060D PA001=73 80SJTA-M032E
PA001=13 130SJT-M040D PA001=76 110SJT-M040E（A2）
PA001=14 130SJT-M050D PA001=77 110SJT-M060E（A2）
PA001=15 130SJT-M060D PA001=78 110SJT-M040D（A2）
PA001=17 130SJT-M100D PA001=81 130SJT-M150D（A）
PA001=18 130SJT-M100B PA001=82 130SJT-M040D（A）
PA001=19 130SJT-M150B PA001=83 130SJT-M060D（A）
PA001=20 130SJT-M150D PA001=84 130SJT-M100D（A）
PA001=22 175SJT-M180B PA001=85 130SJT-M040D（A2）
PA001=27 175SJT-M300D PA001=90 130SJT-M100B（A2）
PA001=28 175SJT-M380B PA001=91 130SJT-M150B（A2）
PA001=30 175SJT-M120E PA001=93 175SJT-M180B（A2）
PA001=31 175SJT-M120E（A2） PA001=94 175SJT-M180D（A2）
PA001=32 130SJTE-M150D（A2） PA001=95 175SJT-M220B（A2）
PA001=58 130SJTE-M150D PA001=96 175SJT-M220D（A2）
PA001=59 130SJT-M050E（A） PA001=97 175SJT-M300B（A2）
PA001=60 130SJT-M060E（A） PA001=98 175SJT-M300D（A2）
PA001=61 130SJT-M075E（A） PA001=99 175SJT-M380B（A2）
PA001=62 130SJT-M050E（A2） PA001=100 175SJT-M150D（A2）
PA001=63 130SJT-M060E（A2）
113
GR-L
L Series Bus AC
er Manual
Motor type Motor

M type
co
ode Servo mo
otor type code Servo
o motor type
(PA
A01 (PA01
resolution) re
esolution)
PA001=
=104 80
0SJT-M024C
C（A4Ⅰ） PA0
001=154 130SJT-M
M150D（A4Ⅰ）
PA001=
=106 80
0SJT-M024E
E（A4Ⅰ） PA0
001=156 130SJT-M
M050E（A4Ⅰ）
PA001=
=108 80
0SJT-M032C
C（A4Ⅰ） PA0
001=158 130SJT-M
M060E（A4Ⅰ）
PA001=
=110 80
0SJT-M032E
E（A4Ⅰ） PA0
001=160 130SJT-M
M075E（A4Ⅰ）
PA001=
=122 11
10SJT-M040
0D（A4Ⅰ） PA0
001=162 130SJTE -M150D（A
A4Ⅰ）
PA001=
=124 11
10SJT-M040
0E（A4Ⅰ） PA0
001=166 175SJT-M
M120E（A4Ⅰ）
PA001=
=126 11
10SJT-M060
0D（A4Ⅰ） PA0
001=168 175SJT-M
M150D（A4Ⅰ）
PA001=
=128 11
10SJT-M060
0E（A4Ⅰ） PA0
001=170 175SJT-M
M180B（A4Ⅰ）
PA001=
=140 13
30SJT-M040
0D（A4Ⅰ） PA0
001=172 175SJT-M
M180D（A4Ⅰ）
PA001=
=142 13
30SJT-M050
0D（A4Ⅰ） PA0
001=174 175SJT-M
M220B（A4Ⅰ）
PA001=
=144 13
30SJT-M060
0D（A4Ⅰ） PA0
001=176 175SJT-M
M220D（A4Ⅰ）
PA001=
=146 13
30SJT-M075
5D（A4Ⅰ） PA0
001=178 175SJT-M
M300B（A4Ⅰ）
PA001=
=148 13
30SJT-M100
0B（A4Ⅰ） PA0
001=180 175SJT-M
M300D（A4Ⅰ）
PA001=
=150 13
30SJT-M100
0D（A4Ⅰ） PA0
001=182 175SJT-M
M380B（A4Ⅰ）
PA001=
=152 13
30SJT-M150
0B（A4Ⅰ）
PA001=
=204 80
0SJT-M024C
C（A4Ⅱ） PA0
001=254 130SJT-M
M150D（A4Ⅱ）
PA001=
=206 80
0SJT-M024E
E（A4Ⅱ） PA0
001=256 130SJT-M
M050E（A4Ⅱ）
PA001=
=208 80
0SJT-M032C
C（A4Ⅱ） PA0
001=258 130SJT-M
M060E（A4Ⅱ）
PA001=
=210 80
0SJT-M032E
E（A4Ⅱ） PA0
001=260 130SJT-M
M075E（A4Ⅱ）
PA001=
=222 11
10SJT-M040
0D（A4Ⅱ） PA0
001=262 130SJTE -M150D（A
A4Ⅱ）
PA001=
=224 11
10SJT-M040
0E（A4Ⅱ） PA0
001=266 175SJT-M
M120E（A4Ⅱ）
PA001=
=226 11
10SJT-M060
0D（A4Ⅱ） PA0
001=268 175SJT-M
M150D（A4Ⅱ）
PA001=
=228 11
10SJT-M060
0E（A4Ⅱ） PA0
001=270 175SJT-M
M180B（A4Ⅱ）
PA001=
=240 13
30SJT-M040
0D（A4Ⅱ） PA0
001=272 175SJT-M
M180D（A4Ⅱ）
PA001=
=242 13
30SJT-M050
0D（A4Ⅱ） PA0
001=274 175SJT-M
M220B（A4Ⅱ）
PA001=
=244 13
30SJT-M060
0D（A4Ⅱ） PA0
001=276 175SJT-M
M220D（A4Ⅱ）
PA001=
=246 13
30SJT-M075
5D（A4Ⅱ） PA0
001=278 175SJT-M
M300B（A4Ⅱ）
PA001=
=248 13
30SJT-M100
0B（A4Ⅱ） PA0
001=280 175SJT-M
M300D（A4Ⅱ）
PA001=
=250 13
30SJT-M100
0D（A4Ⅱ） PA0
001=282 175SJT-M
M380B（A4Ⅱ）
PA001=
=252 13
30SJT-M150
0B（A4Ⅱ）
z A
Adapted motor type code table
e of the GR3000T-L
G L AC servo
o drive unit
Motor ty
ype code Moto
or type code
(PA01 Servo mo
otor type (PA01 Servo
o motor type
resolution) re
esolution)
PA001=
=1112 1
175SJT-M38
80BH PA001=1133 175SJT-M
M500BH（A
A2）
PA001=
=1113 1
175SJT-M38
80DH PA001=1134 175SJT-M
M500DH（A
A2）
PA001=
=1114 1
175SJT-M50
00BH PA001=1222 175SJT-M
M380BH（A
A4Ⅰ）
PA001=
=1115 1
175SJT-M50
00DH PA001=1224 175SJT-M
M380DH（A
A4Ⅰ）
PA001=
=1131 1
175SJT-M38
80BH（A2） PA001=1226 175SJT-M
M500BH（A
A4Ⅰ）
PA001=
=1132 1
175SJT-M38
80DH（A2）
） PA0
001=1228 175SJT-M
M500DH（A
A4Ⅰ）
114
Appendix
z Adapted spindle servo motor type code table of the GR-L spindle servo
drive unit
PA1 Rated Voltage Standard configuration
Spindle motor type
para. current level servo drive unit
510 ZJY182-2.2BH-L 13A 220V GR2050Y
509 ZJY182-3.7BH-L 26A 220V GR2100Y
513 ZJY208A-3.7AM-L 17.5A 220V GR2075Y
511 ZJY208A-3.7BH-L 22A 220V GR2075Y
514 ZJY208A-5.5AM-L 28.2A 220V GR2100Y
508 ZJY208A-5.5BH-L 31.8A 220V GR2100Y
512 ZJY208A-7.5BM-L 29.4A 220V GR2100Y
517 ZJY182-1.5BH 7.3A 380V GR3048Y

518 ZJY182-2.2BH 7.5A 380V GR3048Y
552 ZJY182-2.2CF 9A 380V GR3048Y
551 ZJY182-3.7BL 10.4A 380V GR3050Y
519 ZJY182-3.7BH 15.5A 380V GR3050Y
554 ZJY182-3.7DF 13A 380V GR3050Y
553 ZJY182-5.5CF 19A 380V GR3075Y
541 ZJY182-5.5EH 17A 380V GR3075Y
542 ZJY182-7.5EH 21A 380V GR3100Y
543 ZJY208A-2.2AM 6.7A 380V GR3048Y
520 ZJY208-2.2BH 6.3A 380V GR3048Y
ZJY208A-2.2BH
521 8.9A 380V GR3048Y
(ZJY208-2.2BM)
540 ZJY208A-3.7WL 11.3A 380V GR3050Y
544 ZJY208A-3.7AM 10.2A 380V GR3050Y
ZJY208A-3.7BM
522 8.6A 380V GR3050Y
(ZJY208-3.7BH)
534 ZJY208A-3.7BH 12.6A 380V GR3050Y
515 ZJY208A-5.5AM 16.3A 380V GR3075Y
ZJY208A-5.5BM
523 13.2A 380V GR3050Y
(ZJY208-5.5BH)
535 ZJY208A-5.5BH 18.4A 380V GR3075Y
ZJY208A-7.5BM
524 17.3A 380V GR3075Y
(ZJY208-7.5BH)
536 ZJY208A-7.5BH 22.4A 380V GR3100Y
539 ZJY265A-5.5WL 16.3A 380V GR3075Y
538 ZJY265A-7.5WL 21.4A 380V GR3100Y
516 ZJY265A-7.5AM 21.5A 380V GR3100Y
525 ZJY265A-7.5BM 18A 380V GR3075Y
548 ZJY265A-7.5BH 21A 380V GR3100Y
537 ZJY265A-11 WL 30A 380V GR3148Y
546 ZJY265A-11AM 30.9A 380V GR3148Y
526 ZJY265A-11BM 26A 380V GR3100Y
549 ZJY265A-11BH 30A 380V GR3148Y
528 ZJY265A-15AM 48.3A 380V GR3150Y
527 ZJY265A-15BM 35A 380V GR3150Y
550 ZJY265A-15BH 40.7A 380V GR3150Y
530 ZJY265A-18.5BM 48.7A 380V GR3150Y
529 ZJY265A-22BM 58A 380V GR3198Y
531 ZJY265A-30BL 69A 380V GR3300Y
115
GR-L
er Manual
116
Appendix
APPENDIX B PERIPHERAL EQUIPMENT SELECTION
B.1 Breaker and Contactor (Necessary Equipment)

Breaker and AC contactor should be installed between the power input and spindle servo drive
unit. The breaker and contactor are regarded as not only the power of the servo drive unit but also the
protective function for the power.
Breaker is a kind of protection switch for automatically cutting off the fault circuit, which owns the
functions such as the circuit overloading, short-circuit and underpressure protection. The servo drive
owns the 150%, 30min overloading capacity for itself. It is recommended that user selects the
contributing protective breaker for fully play the overloading capability of servo drive unit.
Installing the AC contactor can be rapidly cut off the power of the drive equipment in the system
fault for controlling the power-on and off of drive equipment by the electric protection circuit.
User can freely configure it based upon the following technical data:
GR2050T GR2075T GR2100T

Servo drive unit GR2025T GR2030T GR2045T
GR2050Y GR2075Y GR2100Y
Rated current I (A) of
standard configuration I≤4 4＜I≤6 6＜I≤7.5 7.5＜I≤10 10＜I≤15 15＜I≤22 22＜I≤29
servo motor
（AC380V）
Breaker rated current (A) 9 12 15 20 30 40 40
(AC380V)
（AC220V）
Contactor rated current 20 20 20 20 25 32 40
(A) (AC220V)
Servo drive unit GR3048T GR3050T GR3075T GR3100T GR3148T GR3150T GR3198T

standard configuration I≤7.5 7.5＜I≤10 10＜I≤15 15＜I≤20 20＜I≤27 27＜I≤34 34＜I≤45
servo motor
（AC380V）
(AC380V)
（AC380V）
(A) (AC380V)
GR3048Y GR3050Y GR3075Y GR3100Y GR3148Y GR3150Y GR3198Y
Servo drive unit
GR4048Y GR4050Y GR4075Y GR4100Y GR4148Y GR4150Y GR4198Y
standard configuration I≤8 8＜I≤15.5 15.5＜I≤20 20＜I≤27 27＜I≤34 34＜I≤49 49＜I≤60
servo motor
（AC380V）
(AC380V)
（AC380V）
(A) (AC380V)
117
GR-L
L Series Bus AC
er Manual
B.2 Th
hree-phas
se AC Filter (Rec
commended Equipment)
Three--phase filterr is a kind of passive low-pass filter, and its
s filtering fre
requency ch
hannel is
10kHz～30
0MHz for resstraining the
e high-freque
ency noisy interference
i generated from the po
ower port
of the servo
o drive unit. Generally, do
d not insta
all it only whe
en the high frequency nnoisy genera
ated from
e unit is interrfered to the normal worrking of othe
servo drive er devices du
uring the usee ambient.
User ccan freely co
onfigure it ba
ased upon th
he following technical da
ata:
Servo drive unit
adapted motor 1.5 2.2
2 3.7 5.5 7.5 11 15 18.5 22
power (kW)
3-phase A
AC filter
10 10
0 20 20 30 40
4 50 50 60
rated currrent (A)
3-phase A
AC filter
80/440
38 380/4
440 380/440
0 380/440 380/440
3 380/440 380/4440 380/440 380/440
rated volttage (V)
3-phase A
AC filter
≈
≈2.8 ≈2.8 ≈1.6 ≈1.6 ≈0.9 ≈1
1.1 ≈0.6 ≈0.6 ≈0.4
inductanc
ce (mH)
3-phase A
AC filter
current-le
eakage ≤2 ≤2
2 ≤2 ≤2 ≤2 ≤2
≤ ≤3 ≤3 ≤3
(mA
A)
The in
nstallation cautions
c forr the filter:
¾ The filter metal shell
s and the
e electric ca binet should
d be contactted finely annd grounded stably;
¾ The filter input/o e should be parted and can not be parallelled,, to prevent the filter
output cable
perfo
ormance from reducing;;
¾ The installation of the filterr should be placed at the
t e of the equuipment pow
entrance wer, and
shorrten the inpu
ut cable leng
gth inside th
he cabinet off the filter as
s much as ppossible for reducing
the rradiation inte
erference.
B.3 AC
C Reacto
or (Recom
mmende d Equipm
ment)
The po
ower input port series-in
n AC reactorr is used for restraining the
t higher-hharmonic-wa
ave input,
which can be not onlyy stopped th
he interferen
nce from ele b also red uce the eclectic net
ectric net, but
pollution off the harmon
nic-current generated
g fro
rom integrate
ed unit. Gen
nerally, the uuse ambient can not
be installed
d. It is reco
ommended to
t install the
e AC reacto
or for the se
ervo drive uunit based upon
u the
following w
working ambiient:
1. The power of th
he configured
d motor is m
more than 15
5kW.
2. The imbalance degree of th
he three-pha
ase voltage is more than
n 3%.
3. The
e same power supply sy
ystem is insstalled the equipments
e such as thee thyristor co
onverter,
non-linear loading, ele
ectric arc furrnace load a
and the com
mpensation capacitor eqquipment co
onnected
with the sw
witch shifting adjustmentt power facto
or.
118
Appendix
4. It is necessary to improve the power factor of the input side.

The selection of the AC reactor can be determined by pressure-drop based upon each-phase
winding on the expected reactor. Generally, the pressure-drop is selected to the 2%～4% of the net
side-phase voltage. The reactor pressure-drop of the series-in from the input port can not be ultra-big;
otherwise, the motor’s torque will be affected. It is recommended to use the 45 (8.8V) of the
leading-in voltage.
User can freely configure it based upon the following technical data.
3-phase AC lead-in reactor

Rated operation
output power Rated operation voltage
voltage
1.5 kW 3-phase AC 380V (or 440V) /50Hz 8A～10 A 1.0 mH～2.5 mH
3.7 kW 3-phase AC 380V (or 440V) /50Hz 9A～10 A 1. mH ～2.5 mH
11 kW 3-phase AC 380V (or 440V) /50Hz 24A～30 A 0.5 mH～0.8 mH
15 kW 3-phase AC 380V (or 440V) /50Hz 34A～40 A 0.4 mH～0.6 mH
18.5 kW 3-phase AC 380V (or 440V) /50Hz 40A～50A 0.4 mH～0.5 mH
22 kW 3-phase AC 380V (or 440V) /50Hz 50A～60 A 0.35 mH～0.4mH
119
GR-L
er Manual
120
Appendix
x
APPEN
NDIX C SELEC
CTION OF
O BRAK
KE RESIS
STANCE
E
Do not touch the brake resistance, because the e high presssure and tem
mperature
may be ge enerated on n its surface e when servo drive uunit is turne ed on or
operated!
It is necessa
ary to installl an insulatio
on enclosure
e.
Notiice The surface e temperatu ure of the aluminum
a enclosure
e brrake resistaance falls
slowly after the servo ddrive unit is turned
t off! You
Y can toucch it when in nspecting
and maintaiining till the surface temmperature off the brake resistance descends
d
to room-temmperature an nd after the servo
s drive unit is turnedd off for 10m
min.
①B
Brake resistance type explanation
RXLG 1200W 30R

R J J
Wiring M: Termina
al, J: Lead -in ccable
Res istance value precision

p K
: ±100%, J: ±5%
ke resistance value:
Brak v 30R meaans 30 Ω
Brak
ke resistance power:
p 100 W ~ 2000 W
Prod
duct code
②B
Brake resistance appea
arance
③B
Brake resistance dimension
E
C C
B
B
D
D
A A
Fig.1-9-1 Insstallation apertu
ure 5.5mm Fig.1-9-2 Insta
allation aperturre 5.5mm
Wiring
e rate (W)
resistanc
Terminal
Appeara
D imension (mm)
Product
Lead
Lead-in
(mm2)
length
Brake
figure
cable
(mm)
code
nce
in
A B C D E
RXLG 500 335 323

3 60 30 / 2.5 1000 M5
Fig. 1-9-1
RXLG 800 400 388
8 61 59 / 2.5 1000 M5
121
GR-L
L Series Bus AC
er Manual
RXLG 1200 50
45 438 50 107
7 30 2.5 1000 M5
Fiig. 1-9-2
RXLG 1500 48
85 473 50 107
7 30 2.5 1000 M5
④ Brake resistancce
installa
ation interva
al
＞100mmm
Servo unitit or other

S
equipments
＞150mmm ＞1550mm
th
⑤ Brake resistancce configuration table
La
arge, mediumm inertial app lication Small
S inertial application
Servo driv
ve (Turnin
ng machine) (Milling m machine)
unit type
e
Specification Ty
ype Specification Type
e
GR2050Y
Y 800W/15Ω RXLG800W
W15RJJ-M4 500W
W/15Ω R
RXLG500W15
5RJJ-M4
GR2075Y
Y 120
00W/10Ω RXFG1200
0W10RJM-M4 800W
W/10Ω R
RXFG800W10
0RJM-M4
GR2100Y
Y 15
500W/9Ω RXFG1500
0W09RJM-M6 1200W
W/9Ω R
RXFG1200W09RJM-M6
GR3048Y
Y 800W/35Ω RXLG80
00W35RJJ 500W
W/35Ω RXLG500W
W35RJJ
GR4048Y
Y 800W/35Ω RXLG80
00W35RJJ 500W
W/35Ω RXLG500W
W35RJJ
GR3050Y
Y 120
00W/30Ω RXLG120
00W30RJM 800W
W/30Ω RXLG800W
W30RJJ
GR4050Y
Y 120
00W/35Ω RXLG120
00W35RJM 800W
W/35Ω RXLG800W
W35RJJ
GR3075Y
Y 150
00W/30Ω RXLG150
00W30RJM 1200W
W/30Ω RXLG1200W
W30RJM
GR4075Y
Y 150
00W/35Ω RXLG150
00W35RJM 1200W
W/35Ω RXLG1200W
W35RJM
GR3100Y
Y (1200
0W/30Ω)//2 RXLG120
00W30RJM (800W/3
30Ω)//2 RXLG800W
W30RJJ
GR4100Y
Y (1200
0W/35Ω)//2 RXLG120
00W35RJM (800W/3
35Ω)//2 RXLG800W
W35RJJ
GR3148Y
Y (1500
0W/30Ω)//2 RXLG120
00W30RJM (1200W//30Ω)//2 RXLG1200W
W30RJM
GR4148Y
Y (1500
0W/35Ω)//2 RXLG120
00W35RJM (1200W//35Ω)//2 RXLG1200W
W35RJM
GR3150Y
Y (1500
0W/30Ω)//2 RXLG150
00W30RJM (1200W//30Ω)//2 RXLG1200W
W30RJM
GR4150Y
Y (1500
0W/35Ω)//2 RXLG150
00W35RJM (1200W//35Ω)//2 RXLG1200W
W35RJM
GR3198Y
Y (2000
0W/25Ω)//2 RXLG200
00W25RJM (1500W//25Ω)//2 RXLG1500W
W25RJM
GR4198Y
Y (2000
0W/25Ω)//2 RXLG200
00W25RJM (1500W//25Ω)//2 RXLG1500W
W25RJM
Servo driive Servo drive

d
Specification Type Sp
pecification Typ
pe
unit typ
pe unit ty
ype
GR2025T
T GR304
48T 500W/35Ω
5 RXLG500W
W35RJJ
300WW/22Ω
GR2030T
T (Optio
onal RXL
LG300W22RJJJ GR305
50T 800W/30Ω
8 RXLG800W
W30RJJ
configuration)
GR2045T
T GR307
75T 12
200W/30Ω RXLG1200W30RJJ
122
Appendix
Servo drive Servo drive

Specification Type Specification Type
unit type unit type
500W/15Ω
GR2050T (Optional RXLG500W15RJJ GR3100T (800W/30Ω)//2 RXLG800W30RJJ
configuration)
GR2075T 800W/12Ω RXLG800W12RJM GR3148T (1200W/30Ω)//2 RXLG1200W30RJJ
GR2100T 1200W/10Ω RXLG1200W10RJJ GR3150T (1200W/30Ω)//2 RXLG1200W30RJJ
/ / / GR3198T (1500W/25Ω)//2 RXLG1500W25RJJ
*: “//2” means that each servo drive unit should be performed the parallel connection with two same types
brake resistances; and then the lead-in cable will be mounted to the drive unit after separately parallel to the
pressure-welding.
123

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This user manual describes all proceedings concerning the

operations of GR-L Series Bus AC Servo 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. And therefore, the

proceedings not indicated herein should be considered impractical or

to publish or reprint this manual without the express written permission of

It’s our ple

Danger Incorrectt operation

Caution Operating the macchine inco

Noticce If the approved pro

Tigghten each h wiring terrminal of th

The wiring and

Doo not openn the coverr plate of th

Do not immediately operate th he servo Do

Do nott place the cable at th

Do noot hold the cable and motor Do

Doo not touch

The wasted servo o unit and the

This manual is reserv

We are full of heartfelt gratitude to you for supporting us in the use

5.4 GSK-LINK BUS CONTROL OPERATION ................................................................................................... 59

CHAPTER ONE PRODUCT INTRODUCTION

¾ Integrated permanent-magnet synchronous servo motor and asynchronous spindle servo

1.1 Product Type Confirmation

Inspection Item Remark

Checkk the compon nent contentt of the

① “GR” series genera

⑤ Communication bus code, N: Without bus; L: GSKLink bus

1.1.2 Servo Drive Unit Appearance

Absolute encoder standby battery

installation position (Refer to the

servo drive unit type explanation)

Fig. 1-10 GR2000T-C product appearance

z Motor encoder shou

Power input 3-phase AC380V（85%～110%）50/60Hz±1Hz

Servo drive GR3048Y-L GR3050Y-L GR3075Y-L GR3100Y-L GR3148Y-L GR3150Y-L GR3198Y-L

Weight（kg） 3.42 5.38 7.6 9.755 9.850 13.34 13.4

1.3.1 GR-L Series Servo

1.3.2 Order Type Example

GR servo drive unit type —（Servo motor type）

1.3.3 Option-Type Table of SJT Series Servo Motor Matching with

Servo Mottor Parameter

The motorr optional configuratio

1.3.4 Option-tyype Tablle of SJJT Serie

Main Parameter of Spindle Motor

1.3.6 OOption-tyype Table of ZJY

GSKLink communication cable provides (Note 2) with CNC product.

z GR2000T-L, GR3000T-L series product optional accessory list

z GR2000Y-L, GR3000Y-L, GR4000Y-L series product standard accessory list

TThis plug is pro

CHAPTER TWO INSTALLATION

2.1 Installation Environment Requirement

Storage & transportation humidity ≤95%（40℃）

product for the

GR-L series servo drive

Hot air 100 mm

Fig. 2-1 The installation interval for 1 servo drive unit

The wiring should be performed by the qualified professional personnel and

The terminal protective